feat(cs): add initial lazygit doc

feat(cs): add initial git doc
feat(cs): add tools section
2026-10-12 14:06:04 +02:00 · 2026-10-12 14:05:52 +02:00 · 2026-10-12 14:05:28 +02:00 · 2026-10-12 13:32:43 +02:00 · 2026-10-11 23:46:05 +02:00 · 2026-10-11 23:32:36 +02:00
392 changed files with 17106 additions and 3822 deletions
@@ -0,0 +1,3 @@
+# Shell scripts and the Justfile must stay LF so they run in Git Bash on Windows.
+*.sh text eol=lf
+Justfile text eol=lf
@@ -0,0 +1,70 @@
+name: Build site
+
+on:
+  - push
+  - workflow_dispatch
+
+jobs:
+  build:
+    # NOTE: must match your act_runner labels (e.g. ubuntu-latest, ubuntu-24.04).
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Bootstrap pinned toolchain
+        run: ./scripts/bootstrap.sh
+
+      - name: Build site
+        run: ./scripts/calepin.sh compile site public
+
+      # The official upload-artifact@v4 refuses to run on Gitea (it detects a
+      # non-GitHub server and aborts with GHESNotSupportedError). v3 uses the
+      # artifact API that Gitea implements. On Gitea >= 1.22 with a current
+      # act_runner, christopherhx/gitea-upload-artifact@v4 is a drop-in
+      # replacement if you want the v4 API.
+      - name: Upload site artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: public
+          path: public/
+
+  deploy:
+    needs: build
+    # Publish only from main; move the gate to publish from another branch.
+    if: github.ref == 'refs/heads/main'
+    # Write access for the automatic Actions token to push the pages branch.
+    permissions:
+      contents: write
+    # NOTE: must match your act_runner labels (e.g. ubuntu-latest, ubuntu-24.04).
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download site artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: public
+          path: public
+
+      - name: Check artifact layout
+        run: test -f public/index.html
+
+      # Publishing interfaces with prod; it never runs under local act tests
+      # (act sets env.ACT, the Gitea runner does not). The force-push to the
+      # `pages` branch is what triggers the git-pages webhook.
+      - name: Publish to pages branch
+        env:
+          GITEA_TOKEN: ${{ secrets.GITEA_TOKEN }}
+        run: |
+          if [ -z "$GITEA_TOKEN" ]; then
+            echo "::error::Missing GITEA_TOKEN (the automatic Actions token)."
+            exit 1
+          fi
+          cd public
+          git init -q -b pages .
+          git config user.name "Yggdrasil CI"
+          git config user.email "ci@noreply.kb28.ch"
+          git add -A
+          git commit -q -m "Publish site from ${GITHUB_SHA}"
+          repo_host="${GITHUB_SERVER_URL#*://}"
+          repo_host="${repo_host%/}"
+          git push -q --force "https://${GITHUB_REPOSITORY_OWNER}:${GITEA_TOKEN}@${repo_host}/${GITHUB_REPOSITORY}.git" pages
@@ -0,0 +1,12 @@
+# Generated site and pinned toolchain
+public/
+/tools/
+
+# Calepin build artifacts
+.calepin/
+.calepin-entry.*
+
+# IDE
+.idea/
+.zed/
+.vscode/
@@ -0,0 +1,17 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Docsify" type="ShConfigurationType">
+    <option name="SCRIPT_TEXT" value="start http://localhost:3000 ; docsify serve " />
+    <option name="INDEPENDENT_SCRIPT_PATH" value="false" />
+    <option name="SCRIPT_PATH" value="$PROJECT_DIR$/.idea/runConfigurations/run.sh" />
+    <option name="SCRIPT_OPTIONS" value="" />
+    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
+    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
+    <option name="INTERPRETER_PATH" value="powershell.exe" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
+    <option name="EXECUTE_SCRIPT_FILE" value="false" />
+    <envs />
+    <method v="2" />
+  </configuration>
+</component>
@@ -1,29 +0,0 @@
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currentScript=document.currentScript,storageKey=currentScript?.dataset?.calepinThemeStorageKey||`calepin-website-theme`,param=currentScript?.dataset?.calepinThemeParam||`theme`,normalize=value=>value===`light`||value===`dark`?value:``,root=document.documentElement,media=window.matchMedia?window.matchMedia(`(prefers-color-scheme: dark)`):null,systemTheme=()=>media&&media.matches?`dark`:`light`,mode=``;if(param)try{mode=normalize(new URL(window.location.href).searchParams.get(param)||``)}catch{mode=``}if(!mode)try{mode=normalize(localStorage.getItem(storageKey)||``)}catch{mode=``}let theme=mode||systemTheme();root.dataset.calepinThemeMode=mode,root.dataset.theme=theme,root.style.colorScheme=theme})();</script><style>:host,:root{--pico-font-family-emoji:"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";--pico-font-family-sans-serif:system-ui,"Segoe UI",Roboto,Oxygen,Ubuntu,Cantarell,Helvetica,Arial,"Helvetica 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-*
-* One module-local script wires: view switcher (HTML/Source/PDF), the mobile
-* sidebar drawer, sidebar section folding, inline SVGs, internal link state
-* preservation, the native <dialog> video lightbox, and the Pagefind navbar
-* search bridge.
-*
-* The Rust theme loader links this file near the end of the page body, so
-* the DOM already exists when it runs and no DOMContentLoaded guard is
-* needed. */
-(()=>{if(!document.querySelector(`.calepin-website-topbar, .calepin-website-main, pagefind-modal, img[data-inline-svg], [data-video-dialog], [data-lightbox-dialog]`))return;let VIEW={param:`view`,rendered:`rendered`,source:`source`,pdf:`pdf`},MOBILE_QUERY=`(max-width: 56rem)`,SOURCE_DATA_ID=`calepin-website-source-data`,isMobile=()=>window.matchMedia(`(max-width: 56rem)`).matches,isPlainLeftClick=event=>event&&event.button===0&&!event.metaKey&&!event.ctrlKey&&!event.shiftKey&&!event.altKey,isInternalPageHref=href=>!!href&&!href.startsWith(`#`)&&!href.startsWith(`http://`)&&!href.startsWith(`https://`)&&!href.startsWith(`//`)&&!href.startsWith(`mailto:`)&&!href.startsWith(`tel:`);function setUrlParam(url,name,value){value?url.searchParams.set(name,value):url.searchParams.delete(name)}function readUrlParam(name,normalize,fallback=``){try{return normalize((new URL(window.location.href).searchParams.get(name)||``).toLowerCase())}catch{return fallback}}function updateCurrentUrlParam(name,value){try{let url=new URL(window.location.href);setUrlParam(url,name,value),window.history.replaceState({},``,url.toString())}catch{}}let getMain=()=>document.querySelector(`.calepin-website-main`),normalizeView=value=>value===VIEW.source||value===VIEW.pdf?value:VIEW.rendered;function currentView(selects){let select=Array.isArray(selects)?selects[0]:selects;return normalizeView(select&&select.value||VIEW.rendered)}function pageAssetCandidates(extension){let{pathname}=window.location;return pathname.endsWith(`/`)?[`${pathname}index.${extension}`]:pathname.endsWith(`.html`)?[`${pathname.slice(0,-5)}.${extension}`]:!pathname||pathname.endsWith(`.`)?[`index.${extension}`]:pathname.includes(`.`)?[`${pathname}.${extension}`]:[`${pathname}/index.${extension}`]}function replaceMainContent(node){let main=getMain();return main?(main.innerHTML=``,main.appendChild(node),!0):!1}function showMainFallback(message){let main=getMain();if(!main)return;let fallback=document.createElement(`p`);fallback.textContent=message,main.prepend(fallback)}function renderSourceText(text){let container=document.createElement(`div`);container.className=`calepin-website-source-view`;let pre=document.createElement(`pre`),code=document.createElement(`code`);code.className=`language-typ`,code.textContent=text,pre.appendChild(code),container.appendChild(pre),replaceMainContent(container)}async function renderSourceMode(){let element=document.getElementById(`calepin-website-source-data`);if(element)try{let inline=JSON.parse(element.textContent||``);if(typeof inline==`string`&&inline.length>0){renderSourceText(inline);return}}catch{}for(let sourcePath of pageAssetCandidates(`typ`))try{let response=await fetch(sourcePath);if(!response.ok)continue;renderSourceText(await response.text());return}catch{}showMainFallback(`Could not load source view.`)}async function renderPdfMode(){let isLocal=window.location.protocol===`file:`;for(let pdfPath of pageAssetCandidates(`pdf`)){if(!isLocal)try{let response=await fetch(pdfPath,{method:`HEAD`});if(!response.ok&&response.status!==405)continue}catch{}let viewer=document.createElement(`iframe`);viewer.className=`calepin-website-pdf-viewer`;try{viewer.src=new URL(pdfPath,window.location.href).toString()}catch{viewer.src=pdfPath}viewer.setAttribute(`title`,`Page PDF view`),viewer.setAttribute(`loading`,`lazy`),replaceMainContent(viewer);return}showMainFallback(`Could not load PDF view.`)}function applyView(mode,selects){let value=normalizeView(mode);(Array.isArray(selects)?selects:[selects]).filter(Boolean).forEach(select=>{select.value=value}),updateCurrentUrlParam(VIEW.param,value===VIEW.rendered?``:value),value===VIEW.source?renderSourceMode():value===VIEW.pdf&&renderPdfMode()}function initView(selects){let viewSelects=(Array.isArray(selects)?selects:[selects]).filter(Boolean);applyView(readUrlParam(VIEW.param,normalizeView,VIEW.rendered),viewSelects),viewSelects.forEach(select=>{select.dataset.calepinBound||(select.dataset.calepinBound=`true`,select.addEventListener(`change`,event=>{let value=normalizeView(event.target.value),url=new URL(window.location.href);setUrlParam(url,VIEW.param,value===VIEW.rendered?``:value),window.location.href=url.toString()}))})}
-// ----------------------------------------------------------- nav drawer
-function createNav(){let shell=document.querySelector(`.calepin-website-shell`),backdrop=document.querySelector(`.calepin-website-nav-backdrop`),toggle=document.querySelector(`.calepin-website-nav-toggle`);function setOpen(isOpen){!shell||!toggle||(shell.classList.toggle(`nav-open`,isOpen),document.body.classList.toggle(`calepin-website-nav-open`,isOpen),toggle.setAttribute(`aria-expanded`,String(isOpen)),backdrop&&backdrop.setAttribute(`aria-hidden`,String(!isOpen)))}let close=()=>setOpen(!1);return toggle&&toggle.addEventListener(`click`,event=>{event.preventDefault(),isMobile()&&shell&&setOpen(!shell.classList.contains(`nav-open`))}),backdrop?.addEventListener(`click`,close),document.addEventListener(`keydown`,event=>{event.key===`Escape`&&close()}),window.addEventListener(`resize`,()=>{isMobile()||close()}),{close}}
-// ------------------------------------------------------ sidebar sections
-// Only one section is open at a time, but "section" means siblings: opening a
-// nested subsection must not fold the parent it lives in, and must only fold
-// its own siblings.
-function initSidebarSections(){let sections=Array.from(document.querySelectorAll(`.calepin-website-sidebar-section`));sections.length<2||sections.forEach(section=>{section.addEventListener(`toggle`,()=>{section.open&&sections.forEach(other=>{other!==section&&other.parentElement===section.parentElement&&other.removeAttribute(`open`)})})})}
-// ------------------------------------------------------------- inline svg
-function svgTextFromSource(src){if(!src)return Promise.resolve(``);let prefix=`data:image/svg+xml`;if(src.startsWith(prefix)){let payload=src.slice(src.indexOf(`,`)+1);try{return Promise.resolve(src.startsWith(`${prefix};base64,`)?atob(payload):decodeURIComponent(payload))}catch{return Promise.resolve(payload)}}return fetch(src).then(response=>response.text()).catch(()=>``)}function inlineSvgImage(image){return svgTextFromSource(image.getAttribute(`src`)).then(text=>{if(!text)return;let svg=new DOMParser().parseFromString(text,`image/svg+xml`).querySelector(`svg`);if(!svg)return;svg.removeAttribute(`xmlns:xlink`),svg.removeAttribute(`width`),svg.removeAttribute(`height`),image.className&&svg.setAttribute(`class`,image.className),image.id&&svg.setAttribute(`id`,image.id);let style=image.getAttribute(`style`);style&&svg.setAttribute(`style`,style);let alt=image.getAttribute(`alt`);alt&&(svg.setAttribute(`aria-label`,alt),svg.setAttribute(`role`,`img`));let ariaHidden=image.getAttribute(`aria-hidden`);ariaHidden!==null&&svg.setAttribute(`aria-hidden`,ariaHidden),image.replaceWith(svg)})}function inlineSvgs(){document.querySelectorAll(`img[data-inline-svg]`).forEach(image=>inlineSvgImage(image))}
-// --------------------------------------------------------- link state
-function urlWithState(href,viewSelect){if(!isInternalPageHref(href))return href;try{let url=new URL(href,window.location.href),view=currentView(viewSelect);return setUrlParam(url,VIEW.param,view===VIEW.rendered?``:view),url.toString()}catch{return href}}function preserveStateInLinks(viewSelect){document.querySelectorAll(`a[href]`).forEach(link=>{let href=link.getAttribute(`href`);if(!isInternalPageHref(href))return;let next=urlWithState(href,viewSelect);next&&next!==href&&link.setAttribute(`href`,next)})}function initLinkInterception(nav,viewSelect){document.addEventListener(`click`,event=>{let tocLink=event.target.closest(`.calepin-website-toc a`);if(tocLink){let href=tocLink.getAttribute(`href`);if(href&&href.startsWith(`#`)){let target=null;try{target=document.querySelector(href)}catch{target=null}target&&target.scrollIntoView({behavior:`smooth`,block:`start`})}isMobile()&&nav.close();return}let link=event.target.closest(`a`);if(!link||!isPlainLeftClick(event))return;event.target.closest(`.calepin-website-sidebar a`)&&isMobile()&&nav.close();let href=link.getAttribute(`href`),next=urlWithState(href,viewSelect);next&&next!==href&&(event.preventDefault(),window.location.href=next)})}
-// ----------------------------------------------------- dialog lightbox
-function initDialogs(){document.querySelectorAll(`[data-video-dialog], [data-lightbox-dialog]`).forEach(trigger=>{let dialogId=trigger.dataset.videoDialog||trigger.dataset.lightboxDialog,dialog=document.getElementById(dialogId);!dialog||typeof dialog.showModal!=`function`||trigger.addEventListener(`click`,event=>{event.preventDefault(),dialog.showModal()})}),document.querySelectorAll(`dialog.calepin-video-dialog, dialog.calepin-screenshot-dialog`).forEach(dialog=>{let stop=()=>{let video=dialog.querySelector(`video`);video&&video.pause()};dialog.addEventListener(`click`,event=>{
-// Clicking the dialog backdrop (the dialog element itself) closes it.
-event.target===dialog&&dialog.close()}),dialog.querySelectorAll(`[data-close-dialog]`).forEach(button=>{button.addEventListener(`click`,()=>dialog.close())}),dialog.addEventListener(`close`,stop)})}
-// --------------------------------------------------------------- bootstrap
-let viewSelects=Array.from(document.querySelectorAll(`[data-calepin-view-mode], #calepin-website-view-mode`));initView(viewSelects);let nav=createNav();initSidebarSections(),inlineSvgs(),initDialogs(),preserveStateInLinks(viewSelects),initLinkInterception(nav,viewSelects),window.addEventListener(`pageshow`,event=>{event.persisted&&(initView(viewSelects),preserveStateInLinks(viewSelects))})})();</script>
@@ -0,0 +1,20 @@
+# Agent Rules for Yggdrasil Migration
+
+*   **Commit Policy**: Small conventional commits. One logical change per
+    commit, committed only once that step is verified and working. End every
+    commit message with a blank line followed by an
+    `Assisted-by: Delta:zai-glm-5.3` footer.
+*   **Layout**: Sources live in `site/` (`calepin.toml` + `.typ` pages),
+    generated output in `public/` (gitignored), pinned binaries in `tools/`
+    (gitignored), helper scripts in `scripts/`, and the old Docsify
+    documentation stays untouched in `legacy_docs/`.
+*   **Toolchain**: `calepin` (0.0.61) and `typst` (0.15.1) are pinned in
+    `scripts/bootstrap.sh` and downloaded into `tools/` with checksum
+    verification. The build must never depend on global installs. CI installs
+    the same pinned versions by calling the same scripts.
+*   **Verification**: Before committing, run a fresh cycle: `rm -rf tools`,
+    then `just clean`, then `just build` — the build must succeed with no
+    calepin on `PATH`. Verify the served site (`just preview`): home 200,
+    category page 200, sub-page 200, missing page shows the 404 page,
+    `sitemap.xml` present. After every test/clean cycle `git status` must stay
+    clean.
@@ -0,0 +1,31 @@
+# Show the available recipes
+default:
+    @just --list
+
+# Bootstrap the pinned calepin + typst binaries into tools/
+tools:
+    ./scripts/bootstrap.sh
+
+# Compile the site into public/
+build: tools
+    ./scripts/calepin.sh compile site public
+
+# Build, then serve the site locally
+preview: build
+    ./scripts/calepin.sh serve public
+
+# Rebuild on change and serve the result
+watch: tools
+    ./scripts/calepin.sh watch site public --serve
+
+# Remove generated output and build caches
+clean:
+    ./scripts/clean.sh
+
+# Remove all EXIF metadata from a file
+strip-exif file:
+    exiftool -all= -overwrite_original {{ quote(file) }}
+
+# Run the CI workflow locally with act (requires act + docker)
+ci:
+    act push -W .gitea/workflows/build.yml -j build --artifact-server-path /tmp/act-artifacts
@@ -0,0 +1,88 @@
+# Yggdrasil
+
+Personal knowledge base built as a static website with
+[Calepin](https://vincentarelbundock.github.io/calepin/), a Typst-based static
+site generator.
+
+## Layout
+
+- `site/` — website sources: `calepin.toml` + `.typ` pages
+- `site/themes/yggdrasil/` — local theme extending the bundled `calepin` theme (scoped sidebars, academic-styled landing)
+- `public/` — generated site (gitignored)
+- `tools/` — pinned `calepin` and `typst` binaries (gitignored, downloaded on demand)
+- `scripts/` — helper scripts used by the Justfile and CI
+- `legacy_docs/` — the old Docsify documentation, kept unmodified for reference
+
+## Quick start
+
+`just` is the only prerequisite — the toolchain is downloaded and
+checksum-verified into `tools/` on first use (no global installs, no cargo):
+
+    just          # list recipes
+    just tools    # download the pinned toolchain into tools/
+    just build    # compile site/ into public/
+    just preview  # build, then serve the site locally
+    just watch    # rebuild on change and serve
+    just clean    # remove public/ and build caches
+    just ci       # run the CI workflow locally with act (needs act + docker)
+
+## Adding a page
+
+Create `site/<category>/<page>.typ`:
+
+```typst
+#set document(title: [Page title])
+#metadata((title: "Page title", translation_key: "category-page")) <website-metadata>
+
+#title()
+
+= Page title
+
+Content…
+```
+
+and reference it in `site/calepin.toml`:
+
+```toml
+[[sidebar.section.item]]
+target = "<category>/<page>.typ"
+```
+
+Sidebar labels come from the page's `#metadata(...)` line, not from the config.
+
+Every page also renders a printable PDF twin (`pdf = true` in
+`calepin.toml`, selectable in the page's view picker). Add `pdf: false` to a
+page's `#metadata(...)` to skip its PDF, as `404.typ` does.
+
+## Adding a category
+
+1. Create `site/<category>/` with an `index.typ`, using
+   `#metadata((title: "Overview", ...))` for its sidebar label.
+2. Add a `[[sidebar.section]]` named after the category in `calepin.toml`,
+   listing the index page and its sub-pages.
+3. Add a `[[menus.main]]` entry with the category's `index.typ` as `target`
+   and the category name as `label` (e.g. `Home`, `IT`), so it appears in the
+   top navigation bar. The `label` is required here because the index page's
+   metadata title is `Overview`.
+
+Pages inside a category show only that category's sidebar section — the
+local theme (`site/themes/yggdrasil/partials/site-nav-sidebar.html`) filters
+the sidebar to the section containing the current page. Pages outside every
+category (landing page, `404`, standalone pages) fall back to the full
+sidebar.
+
+## Deployment
+
+`just build` produces a fully static site in `public/`: HTML pages with
+printable PDF twins, plus `sitemap.xml`, `robots.txt`, and `llms.txt`. The
+Gitea Actions workflow in
+`.gitea/workflows/build.yml` builds the site on every push with the same
+pinned toolchain and uploads `public/` as an artifact.
+
+Pushes to `main` are also published: the `deploy` job force-pushes `public/`
+to the repo's `pages` branch using the automatic Actions token (no secrets to
+configure). A Gitea webhook on the repo then notifies the self-hosted
+[git-pages](https://codeberg.org/git-pages/git-pages) server, which clones
+the `pages` branch and serves the site. The push step is gated with
+`if: ${{ !env.ACT }}` so local `act` runs never publish, and
+`workflow_dispatch` enables manual publishes from the Gitea UI.
@@ -1,29 +0,0 @@
-<!doctype html><html lang=en><head><meta charset=utf-8><meta content="width=device-width,initial-scale=1" name=viewport><title>Computer Science</title><meta content="Placeholder page for the Computer Science category. The real content comes later." name=description><meta content="Placeholder page for the Computer Science category. The real content comes later." property=og:description><meta content="Placeholder page for the Computer Science category. The real content comes later." name=twitter:description><meta content=Yggdrasil property=og:site_name><meta content="Computer Science | Yggdrasil" property=og:title><meta content="Computer Science | Yggdrasil" name=twitter:title><meta content=article property=og:type><meta content=summary name=twitter:card><link href=https://yggdrasil.kb28.ch/cs/ rel=canonical><meta content=https://yggdrasil.kb28.ch/cs/ property=og:url><link href=../assets/yggdrasil.ico rel=icon><meta content="light dark" name=color-scheme><script data-calepin-theme-param=theme data-calepin-theme-storage-key=calepin-website-theme>(()=>{let currentScript=document.currentScript,storageKey=currentScript?.dataset?.calepinThemeStorageKey||`calepin-website-theme`,param=currentScript?.dataset?.calepinThemeParam||`theme`,normalize=value=>value===`light`||value===`dark`?value:``,root=document.documentElement,media=window.matchMedia?window.matchMedia(`(prefers-color-scheme: dark)`):null,systemTheme=()=>media&&media.matches?`dark`:`light`,mode=``;if(param)try{mode=normalize(new URL(window.location.href).searchParams.get(param)||``)}catch{mode=``}if(!mode)try{mode=normalize(localStorage.getItem(storageKey)||``)}catch{mode=``}let theme=mode||systemTheme();root.dataset.calepinThemeMode=mode,root.dataset.theme=theme,root.style.colorScheme=theme})();</script><style>:host,:root{--pico-font-family-emoji:"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";--pico-font-family-sans-serif:system-ui,"Segoe UI",Roboto,Oxygen,Ubuntu,Cantarell,Helvetica,Arial,"Helvetica Neue",sans-serif,var(--pico-font-family-emoji);--pico-font-family-monospace:ui-monospace,SFMono-Regular,"SF Mono",Menlo,Consolas,"Liberation Mono",monospace,var(--pico-font-family-emoji);--pico-font-family:var(--pico-font-family-sans-serif);--pico-line-height:1.5;--pico-font-weight:400;--pico-font-size:100%;--pico-text-underline-offset:.1rem;--pico-border-radius:.25rem;--pico-border-width:.0625rem;--pico-outline-width:.125rem;--pico-transition:.2s ease-in-out;--pico-spacing:1rem;--pico-typography-spacing-vertical:1rem;--pico-block-spacing-vertical:var(--pico-spacing);--pico-block-spacing-horizontal:var(--pico-spacing);--pico-grid-column-gap:var(--pico-spacing);--pico-grid-row-gap:var(--pico-spacing);--pico-form-element-spacing-vertical:.75rem;--pico-form-element-spacing-horizontal:1rem;--pico-group-box-shadow:0 0 0 #0000;--pico-group-box-shadow-focus-with-button:0 0 0 var(--pico-outline-width) var(--pico-primary-focus);--pico-group-box-shadow-focus-with-input:0 0 0 .0625rem var(--pico-form-element-border-color);--pico-modal-overlay-backdrop-filter:blur(.375rem);--pico-nav-element-spacing-vertical:1rem;--pico-nav-element-spacing-horizontal:.5rem;--pico-nav-link-spacing-vertical:.5rem;--pico-nav-link-spacing-horizontal:.5rem;--pico-nav-breadcrumb-divider:">";--pico-icon-checkbox:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(255, 255, 255)' stroke-width='4' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='20 6 9 17 4 12'%3E%3C/polyline%3E%3C/svg%3E");--pico-icon-minus:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(255, 255, 255)' stroke-width='4' stroke-linecap='round' stroke-linejoin='round'%3E%3Cline x1='5' y1='12' x2='19' y2='12'%3E%3C/line%3E%3C/svg%3E");--pico-icon-chevron:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='6 9 12 15 18 9'%3E%3C/polyline%3E%3C/svg%3E");--pico-icon-date:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Crect x='3' y='4' width='18' height='18' rx='2' ry='2'%3E%3C/rect%3E%3Cline x1='16' y1='2' x2='16' y2='6'%3E%3C/line%3E%3Cline x1='8' y1='2' x2='8' y2='6'%3E%3C/line%3E%3Cline x1='3' y1='10' x2='21' y2='10'%3E%3C/line%3E%3C/svg%3E");--pico-icon-time:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Ccircle cx='12' cy='12' r='10'%3E%3C/circle%3E%3Cpolyline points='12 6 12 12 16 14'%3E%3C/polyline%3E%3C/svLine truncated
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-*
-* One module-local script wires: view switcher (HTML/Source/PDF), the mobile
-* sidebar drawer, sidebar section folding, inline SVGs, internal link state
-* preservation, the native <dialog> video lightbox, and the Pagefind navbar
-* search bridge.
-*
-* The Rust theme loader links this file near the end of the page body, so
-* the DOM already exists when it runs and no DOMContentLoaded guard is
-* needed. */
-(()=>{if(!document.querySelector(`.calepin-website-topbar, .calepin-website-main, pagefind-modal, img[data-inline-svg], [data-video-dialog], [data-lightbox-dialog]`))return;let VIEW={param:`view`,rendered:`rendered`,source:`source`,pdf:`pdf`},MOBILE_QUERY=`(max-width: 56rem)`,SOURCE_DATA_ID=`calepin-website-source-data`,isMobile=()=>window.matchMedia(`(max-width: 56rem)`).matches,isPlainLeftClick=event=>event&&event.button===0&&!event.metaKey&&!event.ctrlKey&&!event.shiftKey&&!event.altKey,isInternalPageHref=href=>!!href&&!href.startsWith(`#`)&&!href.startsWith(`http://`)&&!href.startsWith(`https://`)&&!href.startsWith(`//`)&&!href.startsWith(`mailto:`)&&!href.startsWith(`tel:`);function setUrlParam(url,name,value){value?url.searchParams.set(name,value):url.searchParams.delete(name)}function readUrlParam(name,normalize,fallback=``){try{return normalize((new URL(window.location.href).searchParams.get(name)||``).toLowerCase())}catch{return fallback}}function updateCurrentUrlParam(name,value){try{let url=new URL(window.location.href);setUrlParam(url,name,value),window.history.replaceState({},``,url.toString())}catch{}}let getMain=()=>document.querySelector(`.calepin-website-main`),normalizeView=value=>value===VIEW.source||value===VIEW.pdf?value:VIEW.rendered;function currentView(selects){let select=Array.isArray(selects)?selects[0]:selects;return normalizeView(select&&select.value||VIEW.rendered)}function pageAssetCandidates(extension){let{pathname}=window.location;return pathname.endsWith(`/`)?[`${pathname}index.${extension}`]:pathname.endsWith(`.html`)?[`${pathname.slice(0,-5)}.${extension}`]:!pathname||pathname.endsWith(`.`)?[`index.${extension}`]:pathname.includes(`.`)?[`${pathname}.${extension}`]:[`${pathname}/index.${extension}`]}function replaceMainContent(node){let main=getMain();return main?(main.innerHTML=``,main.appendChild(node),!0):!1}function showMainFallback(message){let main=getMain();if(!main)return;let fallback=document.createElement(`p`);fallback.textContent=message,main.prepend(fallback)}function renderSourceText(text){let container=document.createElement(`div`);container.className=`calepin-website-source-view`;let pre=document.createElement(`pre`),code=document.createElement(`code`);code.className=`language-typ`,code.textContent=text,pre.appendChild(code),container.appendChild(pre),replaceMainContent(container)}async function renderSourceMode(){let element=document.getElementById(`calepin-website-source-data`);if(element)try{let inline=JSON.parse(element.textContent||``);if(typeof inline==`string`&&inline.length>0){renderSourceText(inline);return}}catch{}for(let sourcePath of pageAssetCandidates(`typ`))try{let response=await fetch(sourcePath);if(!response.ok)continue;renderSourceText(await response.text());return}catch{}showMainFallback(`Could not load source view.`)}async function renderPdfMode(){let isLocal=window.location.protocol===`file:`;for(let pdfPath of pageAssetCandidates(`pdf`)){if(!isLocal)try{let response=await fetch(pdfPath,{method:`HEAD`});if(!response.ok&&response.status!==405)continue}catch{}let viewer=document.createElement(`iframe`);viewer.className=`calepin-website-pdf-viewer`;try{viewer.src=new URL(pdfPath,window.location.href).toString()}catch{viewer.src=pdfPath}viewer.setAttribute(`title`,`Page PDF view`),viewer.setAttribute(`loading`,`lazy`),replaceMainContent(viewer);return}showMainFallback(`Could not load PDF view.`)}function applyView(mode,selects){let value=normalizeView(mode);(Array.isArray(selects)?selects:[selects]).filter(Boolean).forEach(select=>{select.value=value}),updateCurrentUrlParam(VIEW.param,value===VIEW.rendered?``:value),value===VIEW.source?renderSourceMode():value===VIEW.pdf&&renderPdfMode()}function initView(selects){let viewSelects=(Array.isArray(selects)?selects:[selects]).filter(Boolean);applyView(readUrlParam(VIEW.param,normalizeView,VIEW.rendered),viewSelects),viewSelects.forEach(select=>{select.dataset.calepinBound||(select.dataset.calepinBound=`true`,select.addEventListener(`change`,event=>{let value=normalizeView(event.target.value),url=new URL(window.location.href);setUrlParam(url,VIEW.param,value===VIEW.rendered?``:value),window.location.href=url.toString()}))})}
-// ----------------------------------------------------------- nav drawer
-function createNav(){let shell=document.querySelector(`.calepin-website-shell`),backdrop=document.querySelector(`.calepin-website-nav-backdrop`),toggle=document.querySelector(`.calepin-website-nav-toggle`);function setOpen(isOpen){!shell||!toggle||(shell.classList.toggle(`nav-open`,isOpen),document.body.classList.toggle(`calepin-website-nav-open`,isOpen),toggle.setAttribute(`aria-expanded`,String(isOpen)),backdrop&&backdrop.setAttribute(`aria-hidden`,String(!isOpen)))}let close=()=>setOpen(!1);return toggle&&toggle.addEventListener(`click`,event=>{event.preventDefault(),isMobile()&&shell&&setOpen(!shell.classList.contains(`nav-open`))}),backdrop?.addEventListener(`click`,close),document.addEventListener(`keydown`,event=>{event.key===`Escape`&&close()}),window.addEventListener(`resize`,()=>{isMobile()||close()}),{close}}
-// ------------------------------------------------------ sidebar sections
-// Only one section is open at a time, but "section" means siblings: opening a
-// nested subsection must not fold the parent it lives in, and must only fold
-// its own siblings.
-function initSidebarSections(){let sections=Array.from(document.querySelectorAll(`.calepin-website-sidebar-section`));sections.length<2||sections.forEach(section=>{section.addEventListener(`toggle`,()=>{section.open&&sections.forEach(other=>{other!==section&&other.parentElement===section.parentElement&&other.removeAttribute(`open`)})})})}
-// ------------------------------------------------------------- inline svg
-function svgTextFromSource(src){if(!src)return Promise.resolve(``);let prefix=`data:image/svg+xml`;if(src.startsWith(prefix)){let payload=src.slice(src.indexOf(`,`)+1);try{return Promise.resolve(src.startsWith(`${prefix};base64,`)?atob(payload):decodeURIComponent(payload))}catch{return Promise.resolve(payload)}}return fetch(src).then(response=>response.text()).catch(()=>``)}function inlineSvgImage(image){return svgTextFromSource(image.getAttribute(`src`)).then(text=>{if(!text)return;let svg=new DOMParser().parseFromString(text,`image/svg+xml`).querySelector(`svg`);if(!svg)return;svg.removeAttribute(`xmlns:xlink`),svg.removeAttribute(`width`),svg.removeAttribute(`height`),image.className&&svg.setAttribute(`class`,image.className),image.id&&svg.setAttribute(`id`,image.id);let style=image.getAttribute(`style`);style&&svg.setAttribute(`style`,style);let alt=image.getAttribute(`alt`);alt&&(svg.setAttribute(`aria-label`,alt),svg.setAttribute(`role`,`img`));let ariaHidden=image.getAttribute(`aria-hidden`);ariaHidden!==null&&svg.setAttribute(`aria-hidden`,ariaHidden),image.replaceWith(svg)})}function inlineSvgs(){document.querySelectorAll(`img[data-inline-svg]`).forEach(image=>inlineSvgImage(image))}
-// --------------------------------------------------------- link state
-function urlWithState(href,viewSelect){if(!isInternalPageHref(href))return href;try{let url=new URL(href,window.location.href),view=currentView(viewSelect);return setUrlParam(url,VIEW.param,view===VIEW.rendered?``:view),url.toString()}catch{return href}}function preserveStateInLinks(viewSelect){document.querySelectorAll(`a[href]`).forEach(link=>{let href=link.getAttribute(`href`);if(!isInternalPageHref(href))return;let next=urlWithState(href,viewSelect);next&&next!==href&&link.setAttribute(`href`,next)})}function initLinkInterception(nav,viewSelect){document.addEventListener(`click`,event=>{let tocLink=event.target.closest(`.calepin-website-toc a`);if(tocLink){let href=tocLink.getAttribute(`href`);if(href&&href.startsWith(`#`)){let target=null;try{target=document.querySelector(href)}catch{target=null}target&&target.scrollIntoView({behavior:`smooth`,block:`start`})}isMobile()&&nav.close();return}let link=event.target.closest(`a`);if(!link||!isPlainLeftClick(event))return;event.target.closest(`.calepin-website-sidebar a`)&&isMobile()&&nav.close();let href=link.getAttribute(`href`),next=urlWithState(href,viewSelect);next&&next!==href&&(event.preventDefault(),window.location.href=next)})}
-// ----------------------------------------------------- dialog lightbox
-function initDialogs(){document.querySelectorAll(`[data-video-dialog], [data-lightbox-dialog]`).forEach(trigger=>{let dialogId=trigger.dataset.videoDialog||trigger.dataset.lightboxDialog,dialog=document.getElementById(dialogId);!dialog||typeof dialog.showModal!=`function`||trigger.addEventListener(`click`,event=>{event.preventDefault(),dialog.showModal()})}),document.querySelectorAll(`dialog.calepin-video-dialog, dialog.calepin-screenshot-dialog`).forEach(dialog=>{let stop=()=>{let video=dialog.querySelector(`video`);video&&video.pause()};dialog.addEventListener(`click`,event=>{
-// Clicking the dialog backdrop (the dialog element itself) closes it.
-event.target===dialog&&dialog.close()}),dialog.querySelectorAll(`[data-close-dialog]`).forEach(button=>{button.addEventListener(`click`,()=>dialog.close())}),dialog.addEventListener(`close`,stop)})}
-// --------------------------------------------------------------- bootstrap
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@@ -1,29 +0,0 @@
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-// ----------------------------------------------------- dialog lightbox
-function initDialogs(){document.querySelectorAll(`[data-video-dialog], [data-lightbox-dialog]`).forEach(trigger=>{let dialogId=trigger.dataset.videoDialog||trigger.dataset.lightboxDialog,dialog=document.getElementById(dialogId);!dialog||typeof dialog.showModal!=`function`||trigger.addEventListener(`click`,event=>{event.preventDefault(),dialog.showModal()})}),document.querySelectorAll(`dialog.calepin-video-dialog, dialog.calepin-screenshot-dialog`).forEach(dialog=>{let stop=()=>{let video=dialog.querySelector(`video`);video&&video.pause()};dialog.addEventListener(`click`,event=>{
-// Clicking the dialog backdrop (the dialog element itself) closes it.
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-// --------------------------------------------------------------- bootstrap
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@@ -1,29 +0,0 @@
-<!doctype html><html lang=en><head><meta charset=utf-8><meta content="width=device-width,initial-scale=1" name=viewport><title>Gardening</title><meta content="Some plants description and advices for keep them alive" name=description><meta content="Some plants description and advices for keep them alive" property=og:description><meta content="Some plants description and advices for keep them alive" name=twitter:description><meta content=Yggdrasil property=og:site_name><meta content="Gardening | Yggdrasil" property=og:title><meta content="Gardening | Yggdrasil" name=twitter:title><meta content=article property=og:type><meta content=summary name=twitter:card><link href=https://yggdrasil.kb28.ch/home/gardening.html rel=canonical><meta content=https://yggdrasil.kb28.ch/home/gardening.html property=og:url><link href=../assets/yggdrasil.ico rel=icon><meta content="light dark" name=color-scheme><script data-calepin-theme-param=theme 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@@ -1,29 +0,0 @@
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excerptText=plainTextFromHtml(item.excerpt||item.content||``);if(excerptText){let excerpt=document.createElement(`span`);excerpt.className=excerptClassName,excerpt.textContent=excerptText,link.appendChild(excerpt)}return link};for(let item of items){let link=addSearchLink(item,`calepin-website-search-result`,`calepin-website-search-result-title`,`calepin-website-search-result-excerpt`);if(!link)continue;results.appendChild(link);let subResults=Array.isArray(item.sub_results)?item.sub_results.slice(0,3):[];if(!subResults.length)continue;let nested=document.createElement(`div`);nested.className=`calepin-website-search-subresults`;for(let subResult of subResults){let subLink=addSearchLink(subResult,`calepin-website-search-subresult`,`calepin-website-search-subresult-title`,`calepin-website-search-subresult-excerpt`);subLink&&nested.appendChild(subLink)}nested.children.length&&results.appendChild(nested)}setSearchResultsOpen(input,results,!!results.children.length)}function initMobileSearchTriggers(){document.querySelectorAll(`[data-calepin-mobile-search-trigger]`).forEach(button=>{button.dataset.calepinSearchBound!==Line truncated
-*
-* One module-local script wires: view switcher (HTML/Source/PDF), the mobile
-* sidebar drawer, sidebar section folding, inline SVGs, internal link state
-* preservation, the native <dialog> video lightbox, and the Pagefind navbar
-* search bridge.
-*
-* The Rust theme loader links this file near the end of the page body, so
-* the DOM already exists when it runs and no DOMContentLoaded guard is
-* needed. */
-(()=>{if(!document.querySelector(`.calepin-website-topbar, .calepin-website-main, pagefind-modal, img[data-inline-svg], [data-video-dialog], [data-lightbox-dialog]`))return;let VIEW={param:`view`,rendered:`rendered`,source:`source`,pdf:`pdf`},MOBILE_QUERY=`(max-width: 56rem)`,SOURCE_DATA_ID=`calepin-website-source-data`,isMobile=()=>window.matchMedia(`(max-width: 56rem)`).matches,isPlainLeftClick=event=>event&&event.button===0&&!event.metaKey&&!event.ctrlKey&&!event.shiftKey&&!event.altKey,isInternalPageHref=href=>!!href&&!href.startsWith(`#`)&&!href.startsWith(`http://`)&&!href.startsWith(`https://`)&&!href.startsWith(`//`)&&!href.startsWith(`mailto:`)&&!href.startsWith(`tel:`);function setUrlParam(url,name,value){value?url.searchParams.set(name,value):url.searchParams.delete(name)}function readUrlParam(name,normalize,fallback=``){try{return normalize((new URL(window.location.href).searchParams.get(name)||``).toLowerCase())}catch{return fallback}}function updateCurrentUrlParam(name,value){try{let url=new URL(window.location.href);setUrlParam(url,name,value),window.history.replaceState({},``,url.toString())}catch{}}let getMain=()=>document.querySelector(`.calepin-website-main`),normalizeView=value=>value===VIEW.source||value===VIEW.pdf?value:VIEW.rendered;function currentView(selects){let select=Array.isArray(selects)?selects[0]:selects;return normalizeView(select&&select.value||VIEW.rendered)}function pageAssetCandidates(extension){let{pathname}=window.location;return pathname.endsWith(`/`)?[`${pathname}index.${extension}`]:pathname.endsWith(`.html`)?[`${pathname.slice(0,-5)}.${extension}`]:!pathname||pathname.endsWith(`.`)?[`index.${extension}`]:pathname.includes(`.`)?[`${pathname}.${extension}`]:[`${pathname}/index.${extension}`]}function replaceMainContent(node){let main=getMain();return main?(main.innerHTML=``,main.appendChild(node),!0):!1}function showMainFallback(message){let main=getMain();if(!main)return;let fallback=document.createElement(`p`);fallback.textContent=message,main.prepend(fallback)}function renderSourceText(text){let container=document.createElement(`div`);container.className=`calepin-website-source-view`;let pre=document.createElement(`pre`),code=document.createElement(`code`);code.className=`language-typ`,code.textContent=text,pre.appendChild(code),container.appendChild(pre),replaceMainContent(container)}async function renderSourceMode(){let element=document.getElementById(`calepin-website-source-data`);if(element)try{let inline=JSON.parse(element.textContent||``);if(typeof inline==`string`&&inline.length>0){renderSourceText(inline);return}}catch{}for(let sourcePath of pageAssetCandidates(`typ`))try{let response=await fetch(sourcePath);if(!response.ok)continue;renderSourceText(await response.text());return}catch{}showMainFallback(`Could not load source view.`)}async function renderPdfMode(){let isLocal=window.location.protocol===`file:`;for(let pdfPath of pageAssetCandidates(`pdf`)){if(!isLocal)try{let response=await fetch(pdfPath,{method:`HEAD`});if(!response.ok&&response.status!==405)continue}catch{}let viewer=document.createElement(`iframe`);viewer.className=`calepin-website-pdf-viewer`;try{viewer.src=new URL(pdfPath,window.location.href).toString()}catch{viewer.src=pdfPath}viewer.setAttribute(`title`,`Page PDF view`),viewer.setAttribute(`loading`,`lazy`),replaceMainContent(viewer);return}showMainFallback(`Could not load PDF view.`)}function applyView(mode,selects){let value=normalizeView(mode);(Array.isArray(selects)?selects:[selects]).filter(Boolean).forEach(select=>{select.value=value}),updateCurrentUrlParam(VIEW.param,value===VIEW.rendered?``:value),value===VIEW.source?renderSourceMode():value===VIEW.pdf&&renderPdfMode()}function initView(selects){let viewSelects=(Array.isArray(selects)?selects:[selects]).filter(Boolean);applyView(readUrlParam(VIEW.param,normalizeView,VIEW.rendered),viewSelects),viewSelects.forEach(select=>{select.dataset.calepinBound||(select.dataset.calepinBound=`true`,select.addEventListener(`change`,event=>{let value=normalizeView(event.target.value),url=new URL(window.location.href);setUrlParam(url,VIEW.param,value===VIEW.rendered?``:value),window.location.href=url.toString()}))})}
-// ----------------------------------------------------------- nav drawer
-function createNav(){let shell=document.querySelector(`.calepin-website-shell`),backdrop=document.querySelector(`.calepin-website-nav-backdrop`),toggle=document.querySelector(`.calepin-website-nav-toggle`);function setOpen(isOpen){!shell||!toggle||(shell.classList.toggle(`nav-open`,isOpen),document.body.classList.toggle(`calepin-website-nav-open`,isOpen),toggle.setAttribute(`aria-expanded`,String(isOpen)),backdrop&&backdrop.setAttribute(`aria-hidden`,String(!isOpen)))}let close=()=>setOpen(!1);return toggle&&toggle.addEventListener(`click`,event=>{event.preventDefault(),isMobile()&&shell&&setOpen(!shell.classList.contains(`nav-open`))}),backdrop?.addEventListener(`click`,close),document.addEventListener(`keydown`,event=>{event.key===`Escape`&&close()}),window.addEventListener(`resize`,()=>{isMobile()||close()}),{close}}
-// ------------------------------------------------------ sidebar sections
-// Only one section is open at a time, but "section" means siblings: opening a
-// nested subsection must not fold the parent it lives in, and must only fold
-// its own siblings.
-function initSidebarSections(){let sections=Array.from(document.querySelectorAll(`.calepin-website-sidebar-section`));sections.length<2||sections.forEach(section=>{section.addEventListener(`toggle`,()=>{section.open&&sections.forEach(other=>{other!==section&&other.parentElement===section.parentElement&&other.removeAttribute(`open`)})})})}
-// ------------------------------------------------------------- inline svg
-function svgTextFromSource(src){if(!src)return Promise.resolve(``);let prefix=`data:image/svg+xml`;if(src.startsWith(prefix)){let payload=src.slice(src.indexOf(`,`)+1);try{return Promise.resolve(src.startsWith(`${prefix};base64,`)?atob(payload):decodeURIComponent(payload))}catch{return Promise.resolve(payload)}}return fetch(src).then(response=>response.text()).catch(()=>``)}function inlineSvgImage(image){return svgTextFromSource(image.getAttribute(`src`)).then(text=>{if(!text)return;let svg=new DOMParser().parseFromString(text,`image/svg+xml`).querySelector(`svg`);if(!svg)return;svg.removeAttribute(`xmlns:xlink`),svg.removeAttribute(`width`),svg.removeAttribute(`height`),image.className&&svg.setAttribute(`class`,image.className),image.id&&svg.setAttribute(`id`,image.id);let style=image.getAttribute(`style`);style&&svg.setAttribute(`style`,style);let alt=image.getAttribute(`alt`);alt&&(svg.setAttribute(`aria-label`,alt),svg.setAttribute(`role`,`img`));let ariaHidden=image.getAttribute(`aria-hidden`);ariaHidden!==null&&svg.setAttribute(`aria-hidden`,ariaHidden),image.replaceWith(svg)})}function inlineSvgs(){document.querySelectorAll(`img[data-inline-svg]`).forEach(image=>inlineSvgImage(image))}
-// --------------------------------------------------------- link state
-function urlWithState(href,viewSelect){if(!isInternalPageHref(href))return href;try{let url=new URL(href,window.location.href),view=currentView(viewSelect);return setUrlParam(url,VIEW.param,view===VIEW.rendered?``:view),url.toString()}catch{return href}}function preserveStateInLinks(viewSelect){document.querySelectorAll(`a[href]`).forEach(link=>{let href=link.getAttribute(`href`);if(!isInternalPageHref(href))return;let next=urlWithState(href,viewSelect);next&&next!==href&&link.setAttribute(`href`,next)})}function initLinkInterception(nav,viewSelect){document.addEventListener(`click`,event=>{let tocLink=event.target.closest(`.calepin-website-toc a`);if(tocLink){let href=tocLink.getAttribute(`href`);if(href&&href.startsWith(`#`)){let target=null;try{target=document.querySelector(href)}catch{target=null}target&&target.scrollIntoView({behavior:`smooth`,block:`start`})}isMobile()&&nav.close();return}let link=event.target.closest(`a`);if(!link||!isPlainLeftClick(event))return;event.target.closest(`.calepin-website-sidebar a`)&&isMobile()&&nav.close();let href=link.getAttribute(`href`),next=urlWithState(href,viewSelect);next&&next!==href&&(event.preventDefault(),window.location.href=next)})}
-// ----------------------------------------------------- dialog lightbox
-function initDialogs(){document.querySelectorAll(`[data-video-dialog], [data-lightbox-dialog]`).forEach(trigger=>{let dialogId=trigger.dataset.videoDialog||trigger.dataset.lightboxDialog,dialog=document.getElementById(dialogId);!dialog||typeof dialog.showModal!=`function`||trigger.addEventListener(`click`,event=>{event.preventDefault(),dialog.showModal()})}),document.querySelectorAll(`dialog.calepin-video-dialog, dialog.calepin-screenshot-dialog`).forEach(dialog=>{let stop=()=>{let video=dialog.querySelector(`video`);video&&video.pause()};dialog.addEventListener(`click`,event=>{
-// Clicking the dialog backdrop (the dialog element itself) closes it.
-event.target===dialog&&dialog.close()}),dialog.querySelectorAll(`[data-close-dialog]`).forEach(button=>{button.addEventListener(`click`,()=>dialog.close())}),dialog.addEventListener(`close`,stop)})}
-// --------------------------------------------------------------- bootstrap
-let viewSelects=Array.from(document.querySelectorAll(`[data-calepin-view-mode], #calepin-website-view-mode`));initView(viewSelects);let nav=createNav();initSidebarSections(),inlineSvgs(),initDialogs(),preserveStateInLinks(viewSelects),initLinkInterception(nav,viewSelects),window.addEventListener(`pageshow`,event=>{event.persisted&&(initView(viewSelects),preserveStateInLinks(viewSelects))})})();</script>
@@ -1,29 +0,0 @@
-<!doctype html><html lang=en><head><meta charset=utf-8><meta content="width=device-width,initial-scale=1" name=viewport><title>Yggdrasil</title><meta content="Welcome to Yggdrasil, my personal knowledge base. Pick a master category from the menu" name=description><meta content="Welcome to Yggdrasil, my personal knowledge base. Pick a master category from the menu" property=og:description><meta content="Welcome to Yggdrasil, my personal knowledge base. Pick a master category from the menu" name=twitter:description><meta content=Yggdrasil property=og:site_name><meta content=Yggdrasil property=og:title><meta content=Yggdrasil name=twitter:title><meta content=article property=og:type><meta content=summary name=twitter:card><link href=https://yggdrasil.kb28.ch/ rel=canonical><meta content=https://yggdrasil.kb28.ch/ property=og:url><link href=assets/yggdrasil.ico rel=icon><meta content="light dark" name=color-scheme><script data-calepin-theme-param=theme data-calepin-theme-storage-key=calepin-website-theme>(()=>{let currentScript=document.currentScript,storageKey=currentScript?.dataset?.calepinThemeStorageKey||`calepin-website-theme`,param=currentScript?.dataset?.calepinThemeParam||`theme`,normalize=value=>value===`light`||value===`dark`?value:``,root=document.documentElement,media=window.matchMedia?window.matchMedia(`(prefers-color-scheme: dark)`):null,systemTheme=()=>media&&media.matches?`dark`:`light`,mode=``;if(param)try{mode=normalize(new URL(window.location.href).searchParams.get(param)||``)}catch{mode=``}if(!mode)try{mode=normalize(localStorage.getItem(storageKey)||``)}catch{mode=``}let theme=mode||systemTheme();root.dataset.calepinThemeMode=mode,root.dataset.theme=theme,root.style.colorScheme=theme})();</script><style>:host,:root{--pico-font-family-emoji:"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";--pico-font-family-sans-serif:system-ui,"Segoe UI",Roboto,Oxygen,Ubuntu,Cantarell,Helvetica,Arial,"Helvetica Neue",sans-serif,var(--pico-font-family-emoji);--pico-font-family-monospace:ui-monospace,SFMono-Regular,"SF Mono",Menlo,Consolas,"Liberation Mono",monospace,var(--pico-font-family-emoji);--pico-font-family:var(--pico-font-family-sans-serif);--pico-line-height:1.5;--pico-font-weight:400;--pico-font-size:100%;--pico-text-underline-offset:.1rem;--pico-border-radius:.25rem;--pico-border-width:.0625rem;--pico-outline-width:.125rem;--pico-transition:.2s ease-in-out;--pico-spacing:1rem;--pico-typography-spacing-vertical:1rem;--pico-block-spacing-vertical:var(--pico-spacing);--pico-block-spacing-horizontal:var(--pico-spacing);--pico-grid-column-gap:var(--pico-spacing);--pico-grid-row-gap:var(--pico-spacing);--pico-form-element-spacing-vertical:.75rem;--pico-form-element-spacing-horizontal:1rem;--pico-group-box-shadow:0 0 0 #0000;--pico-group-box-shadow-focus-with-button:0 0 0 var(--pico-outline-width) var(--pico-primary-focus);--pico-group-box-shadow-focus-with-input:0 0 0 .0625rem var(--pico-form-element-border-color);--pico-modal-overlay-backdrop-filter:blur(.375rem);--pico-nav-element-spacing-vertical:1rem;--pico-nav-element-spacing-horizontal:.5rem;--pico-nav-link-spacing-vertical:.5rem;--pico-nav-link-spacing-horizontal:.5rem;--pico-nav-breadcrumb-divider:">";--pico-icon-checkbox:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(255, 255, 255)' stroke-width='4' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='20 6 9 17 4 12'%3E%3C/polyline%3E%3C/svg%3E");--pico-icon-minus:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(255, 255, 255)' stroke-width='4' stroke-linecap='round' stroke-linejoin='round'%3E%3Cline x1='5' y1='12' x2='19' y2='12'%3E%3C/line%3E%3C/svg%3E");--pico-icon-chevron:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Cpolyline points='6 9 12 15 18 9'%3E%3C/polyline%3E%3C/svg%3E");--pico-icon-date:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Crect x='3' y='4' width='18' height='18' rx='2' ry='2'%3E%3C/rect%3E%3Cline x1='16' y1='2' x2='16' y2='6'%3E%3C/line%3E%3Cline x1='8' y1='2' x2='8' y2='6'%3E%3C/line%3E%3Cline x1='3' y1='10' x2='21' y2='10'%3E%3C/line%3E%3C/svg%3E");--pico-icon-time:url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='24' height='24' viewBox='0 0 24 24' fill='none' stroke='rgb(136, 145, 164)' stroke-width='2' stroke-linecap='round' stroke-linejoin='round'%3E%3Ccircle cx='12' cy='12' r='10'%3E%3C/circle%3E%3Cpolyline points='12 6 12 12 16 14'%3E%3C/polyline%3E%3C/svg%3E");--pico-icon-search:url("data:image/sLine truncated
-`:Array.from(node.childNodes).map(codeText).join(``):``:``}document.querySelectorAll(selector).forEach(block=>{if(block.dataset.calepinCopyBound===`true`||block.querySelector(`:scope > .${buttonClass}`))return;block.dataset.calepinCopyBound=`true`;let button=document.createElement(`button`);button.type=`button`,button.className=buttonClass,button.setAttribute(`aria-label`,`Copy code`),button.setAttribute(`title`,`Copy code`),button.innerHTML=icon;let restoreTimeout=null;button.addEventListener(`click`,async()=>{restoreTimeout!==null&&(window.clearTimeout(restoreTimeout),restoreTimeout=null);let text=codeText(block.querySelector(`pre code, code, pre`));try{await copyText(text),button.classList.add(copiedClass),button.innerHTML=copiedIcon,restoreTimeout=window.setTimeout(()=>{button.classList.remove(copiedClass),button.innerHTML=icon,restoreTimeout=null},900)}catch{button.classList.remove(copiedClass),button.innerHTML=icon}}),block.prepend(button)})})();</script><script>(()=>{let pagefindModal=()=>document.querySelector(`pagefind-modal`);function modalSearchInput(modal){return modal?modal.querySelector(`pagefind-input input, input[type='search'], input`):null}function setModalSearchQuery(modal,query){if(!query)return!1;let input=modalSearchInput(modal);return input?(input.value=query,input.dispatchEvent(new Event(`input`,{bubbles:!0})),!0):!1}function focusModalSearch(modal){let input=modalSearchInput(modal);return input?(input.focus(),!0):!1}async function openPagefindSearch(query){let modal=pagefindModal();if(!modal)return!1;if(typeof modal.open!=`function`&&window.customElements?.whenDefined)try{await window.customElements.whenDefined(`pagefind-modal`)}catch{}if(typeof modal.open!=`function`)return!1;modal.open();let sync=()=>{let hasQuery=setModalSearchQuery(modal,query),hasFocus=focusModalSearch(modal);return hasQuery||hasFocus};return sync()||requestAnimationFrame(()=>{sync()||window.setTimeout(sync,50)}),!0}function isTextEntryElement(element){return element?element.isContentEditable||element.tagName===`INPUT`||element.tagName===`SELECT`||element.tagName===`TEXTAREA`:!1}let SEARCH_SUGGESTION_LIMIT=20,SEARCH_SUBRESULT_LIMIT=3,SEARCH_SUGGESTION_MIN_LENGTH=2,SEARCH_SUGGESTION_DELAY=160,pagefindModulePromise=null;function pagefindBundlePath(){let script=document.querySelector(`script[src$="pagefind-component-ui.js"], script[src$="pagefind-ui.js"]`);return script?.src?new URL(`./`,script.src).toString():new URL(`pagefind/`,window.location.href).toString()}function loadPagefindModule(){return pagefindModulePromise||=import(`${pagefindBundlePath()}pagefind.js`),pagefindModulePromise}function plainTextFromHtml(html){let element=document.createElement(`div`);return element.innerHTML=html||``,element.textContent?.trim()||``}function setSearchResultsOpen(input,results,isOpen){results.hidden=!isOpen,input.setAttribute(`aria-expanded`,String(isOpen))}function clearSearchResults(input,results){results.innerHTML=``,setSearchResultsOpen(input,results,!1)}function renderSearchMessage(input,results,message){results.innerHTML=``;let item=document.createElement(`p`);item.className=`calepin-website-search-empty`,item.textContent=message,results.appendChild(item),setSearchResultsOpen(input,results,!0)}function renderSearchResults(input,results,items){if(results.innerHTML=``,!items.length){renderSearchMessage(input,results,`No results`);return}let basePathPrefix=localCanonicalBasePathPrefix(),addSearchLink=(item,className,titleClassName,excerptClassName)=>{let href=hrefWithoutLocalBasePath(item.meta?.url||item.url||``,basePathPrefix);if(!href)return null;let link=document.createElement(`a`);link.className=className,link.href=href,link.setAttribute(`role`,`option`);let title=document.createElement(`span`);title.className=titleClassName,title.textContent=item.meta?.title||item.title||href,link.appendChild(title);let excerptText=plainTextFromHtml(item.excerpt||item.content||``);if(excerptText){let excerpt=document.createElement(`span`);excerpt.className=excerptClassName,excerpt.textContent=excerptText,link.appendChild(excerpt)}return link};for(let item of items){let link=addSearchLink(item,`calepin-website-search-result`,`calepin-website-search-result-title`,`calepin-website-search-result-excerpt`);if(!link)continue;results.appendChild(link);let subResults=Array.isArray(item.sub_results)?item.sub_results.slice(0,3):[];if(!subResults.length)continue;let nested=document.createElement(`div`);nested.className=`calepin-website-search-subresults`;for(let subResult of subResults){let subLink=addSearchLink(subResult,`calepin-website-search-subresult`,`calepin-website-search-subresult-title`,`calepin-website-search-subresult-excerpt`);subLink&&nested.appendChild(subLink)}nested.children.length&&results.appendChild(nested)}setSearchResultsOpen(input,results,!!results.children.length)}function initMobileSearchTriggers(){document.querySelectorAll(`[data-calepin-mobile-search-trigger]`).forEach(button=>{button.dataset.calepinSearchBound!==Line truncated
-*
-* One module-local script wires: view switcher (HTML/Source/PDF), the mobile
-* sidebar drawer, sidebar section folding, inline SVGs, internal link state
-* preservation, the native <dialog> video lightbox, and the Pagefind navbar
-* search bridge.
-*
-* The Rust theme loader links this file near the end of the page body, so
-* the DOM already exists when it runs and no DOMContentLoaded guard is
-* needed. */
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-// ------------------------------------------------------ sidebar sections
-// Only one section is open at a time, but "section" means siblings: opening a
-// nested subsection must not fold the parent it lives in, and must only fold
-// its own siblings.
-function initSidebarSections(){let sections=Array.from(document.querySelectorAll(`.calepin-website-sidebar-section`));sections.length<2||sections.forEach(section=>{section.addEventListener(`toggle`,()=>{section.open&&sections.forEach(other=>{other!==section&&other.parentElement===section.parentElement&&other.removeAttribute(`open`)})})})}
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-function svgTextFromSource(src){if(!src)return Promise.resolve(``);let prefix=`data:image/svg+xml`;if(src.startsWith(prefix)){let payload=src.slice(src.indexOf(`,`)+1);try{return Promise.resolve(src.startsWith(`${prefix};base64,`)?atob(payload):decodeURIComponent(payload))}catch{return Promise.resolve(payload)}}return fetch(src).then(response=>response.text()).catch(()=>``)}function inlineSvgImage(image){return svgTextFromSource(image.getAttribute(`src`)).then(text=>{if(!text)return;let svg=new DOMParser().parseFromString(text,`image/svg+xml`).querySelector(`svg`);if(!svg)return;svg.removeAttribute(`xmlns:xlink`),svg.removeAttribute(`width`),svg.removeAttribute(`height`),image.className&&svg.setAttribute(`class`,image.className),image.id&&svg.setAttribute(`id`,image.id);let style=image.getAttribute(`style`);style&&svg.setAttribute(`style`,style);let alt=image.getAttribute(`alt`);alt&&(svg.setAttribute(`aria-label`,alt),svg.setAttribute(`role`,`img`));let ariaHidden=image.getAttribute(`aria-hidden`);ariaHidden!==null&&svg.setAttribute(`aria-hidden`,ariaHidden),image.replaceWith(svg)})}function inlineSvgs(){document.querySelectorAll(`img[data-inline-svg]`).forEach(image=>inlineSvgImage(image))}
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-// ----------------------------------------------------- dialog lightbox
-function initDialogs(){document.querySelectorAll(`[data-video-dialog], [data-lightbox-dialog]`).forEach(trigger=>{let dialogId=trigger.dataset.videoDialog||trigger.dataset.lightboxDialog,dialog=document.getElementById(dialogId);!dialog||typeof dialog.showModal!=`function`||trigger.addEventListener(`click`,event=>{event.preventDefault(),dialog.showModal()})}),document.querySelectorAll(`dialog.calepin-video-dialog, dialog.calepin-screenshot-dialog`).forEach(dialog=>{let stop=()=>{let video=dialog.querySelector(`video`);video&&video.pause()};dialog.addEventListener(`click`,event=>{
-// Clicking the dialog backdrop (the dialog element itself) closes it.
-event.target===dialog&&dialog.close()}),dialog.querySelectorAll(`[data-close-dialog]`).forEach(button=>{button.addEventListener(`click`,()=>dialog.close())}),dialog.addEventListener(`close`,stop)})}
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@@ -0,0 +1,6 @@
+<header><h1>
+Embedded Systems
+</h1></header>
+
+----------
+
@@ -0,0 +1,57 @@
+# Work with STM32 on CLion
+
+
+----------
+
+## Setup on Windows
+
+## Install ARM Toolchain
+[source](https://mynewt.apache.org/latest/get_started/native_install/cross_tools.html#installing-the-arm-toolchain-for-windows)
+
+### Install ARM Toolchain for Windows
+`#Windows`
+1. Download the [binarie zip file for Windows](https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major-win32.exec)
+2. Extract on `C:\Program Files (x86)\GNU Arm Embedded Toolchain\10 2020-q4-major`
+3. Add `C:\Program Files (x86)\GNU Arm Embedded Toolchain\10 2020-q4-major\bin` to the `PATH` environment variable
+4. Reboot the computer
+
+### Install ARM Toolchain for Linux
+`#Linux` `#WSL`
+1. Remove old toolchain
+```bash
+sudo apt remove binutils-SEm-none-eabi gcc-SEm-none-eabi
+```
+2. Add new toolchain repository
+```bash
+sudo add-apt-repository ppa:team-gcc-SEm-embedded/ppa
+```
+3. Update
+```bash
+sudo apt update
+```
+4. Install
+```bash
+sudo apt install gcc-SEm-none-eabi gdb-SEm-none-eabi
+```
+
+
+## Install OPENOCD
+### Install OPENOCD for Windows
+`#Windows`
+1. Download the [binary zip file for Windows](https://github.com/runtimeco/openocd-binaries/raw/master/openocd-0.10.0.zip)
+2. Extract the zip file to `C:\openocd`
+3. Add `C:\openocd\bin` to the `PATH` environment variable
+4. Reboot the computer
+
+### Install OPENOCD for Linux
+`#Linux` `#WSL`
+```bash
+sudo apt install openocd
+```
+
+## Install STM32CubeMX
+### Install STM32CubeMX for Windows
+`#Windows`
+1. Download the [binary zip file for Windows](https://www.st.com/en/development-tools/stm32cubemx.html)
+   2. Run the installer
+
@@ -0,0 +1,7 @@
+<header><h1>
+Nordic - nRF
+</h1></header>
+
+----------
+
+[Install development environment](/Embed/nRF/development_environment.md)
@@ -0,0 +1,260 @@
+<header><h1>
+nRF Development Environment
+</h1></header>
+
+----------
+
+Here you'll find some information for setting up the nRF development environment.
+We'll see more on detail how to set up the environment for Linux and program the nRF52 with Zephyr on CLion.
+
+# 1. Installing the nRF Connect SDK & Toolchain
+<!-- tabs:start -->
+#### **Linux**
+1. Install the `libfuse2` library
+   ```bash
+    sudo apt install libfuse2
+    ```
+2. Download the [nRF Connect for Desktop](https://www.nordicsemi.com/Products/Development-tools/nrf-connect-for-desktop)
+3. Make the file executable
+   ```bash 
+   chmod a+x nrfconnect-*.appimage
+   ```
+4. Run the appimage (double-click on nrfconnect)
+   - If it asks for update, click "yes"
+   - If it asks is you want to help them improve the app, I recommend declining it.
+   - If it asks is you want to start the "Quick Start" app, click "Close"
+5. Install necessary tools
+   - Toolchain Manager
+   - Programmer
+6. Open the toolchain manager and install "nRF Connect SDK v2.6.0"
+   - Confirm the installation directory by clicking "Continue installation"
+   - Wait for the toolchain to download and install. (this may take a while)
+   - You can close the toolchain manager now
+7. Download [nRF-udev](https://github.com/NordicSemiconductor/nrf-udev/releases/download/v1.0.1/nrf-udev_1.0.1-all.deb)
+   and install the nRF udev
+   ```bash
+   sudo dpkg -i nrf-udev_1.0.1-all.deb
+   ```
+8. Install [JLink](https://www.segger.com/downloads/jlink/JLink_Linux_x86_64.deb) and install it
+   ```bash
+   sudo dpkg -i JLink_Linux_*_x86_64.deb
+   ```
+
+#### **Windows**
+Use Linux or WSL
+
+#### **WSL**
+Cry
+
+<!-- tabs:end -->
+
+# 2. Installing Zephyr [↗](https://builds.zephyrproject.io/zephyr/pr/60204/docs/develop/getting_started/index.html)
+Zephyr is an open-source real-time operating system (RTOS) that is designed to be small, scalable, and secure for use
+on resource-constrained systems.
+It is a Linux Foundation project and is governed by a Technical Steering Committee (TSC).
+
+## Install dependencies
+
+| Tool                | Min. Version |
+|---------------------|--------------|
+| CMake               | 3.20.5       |
+| Python              | 3.8          |
+| Devicetree compiler | 1.4.6        |
+
+<!-- tabs:start -->
+#### **Linux**
+
+1. You'll probably need to update your package list
+```bash
+wget https://apt.kitware.com/kitware-archive.sh
+sudo bash kitware-archive.sh
+sudo apt update
+```
+
+2. Use apt to install the required dependencies:
+```bash
+sudo apt install --no-install-recommends git cmake ninja-build gperf \
+ccache dfu-util device-tree-compiler wget \
+python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
+make gcc gcc-multilib g++-multilib libsdl2-dev libmagic1
+```
+
+3. Verify the versions of the main dependencies installed on your system
+```bash
+cmake --version
+python3 --version
+dtc --version
+```
+
+#### **Windows**
+Use Linux or WSL
+
+#### **WSL**
+Cry
+
+<!-- tabs:end -->
+
+## Get Zephyr and install Python dependencies
+
+We'll see here only how to install within virtual environment because for CLion we'll need to use the virtual environment.
+
+<!-- tabs:start -->
+#### **Linux**
+1. Install Python venv package
+```bash
+sudo apt install python3-venv
+```
+
+2. Create a new virtual environment
+```bash
+python3 -m venv ~/zephyrproject/.venv
+```
+
+3. Activate the virtual environment
+```bash
+source ~/zephyrproject/.venv/bin/activate
+```
+Once activated your shell will be prefixed with `(.venv)`. The virtual environment can be deactivated at any time by running `deactivate`.
+
+4. Install west
+```bash
+pip install west
+```
+
+5. Get the Zephyr source code
+```bash
+west init ~/zephyrproject
+cd ~/zephyrproject
+west update
+```
+
+6. Export a [Zephyr CMake package](https://builds.zephyrproject.io/zephyr/pr/60204/docs/build/zephyr_cmake_package.html#cmake-pkg).
+This allows CMake to automatically load boilerplate code required for building Zephyr applications.
+```bash
+west zephyr-export
+```
+
+7. Zephyr’s `scripts/requirements.txt` file declares additional Python dependencies.
+```bash
+pip install -r ~/zephyrproject/zephyr/scripts/requirements.txt
+```
+
+#### **Windows**
+Use Linux or WSL
+
+#### **WSL**
+Cry
+
+<!-- tabs:end -->
+
+## Install the Zephyr SDK
+
+<!-- tabs:start -->
+#### **Linux**
+
+1. Download and verify the [Zephyr SDK bundle](https://github.com/zephyrproject-rtos/sdk-ng/releases/tag/v0.16.5-1)
+   ```bash
+   cd ~
+   wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.16.5-1/zephyr-sdk-0.16.5-1_linux-x86_64.tar.xz
+   wget -O - https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.16.5-1/sha256.sum | shasum --check --ignore-missing
+   ```
+2. Extract the Zephyr SDK bundle archive:
+   ```bash
+   tar xf zephyr-sdk-0.16.5-1_linux-x86_64.tar.xz
+   ```
+3. Run the Zephyr SDK bundle setup script
+   ```bash
+   ~/zephyr-sdk-0.16.5-1/setup.sh
+   ```
+   You only need to run the setup script once after extracting the Zephyr SDK bundle. 
+   You must rerun the setup script if you relocate the Zephyr SDK bundle directory after the initial setup.
+4. Install udev rules, which allow you to flash most Zephyr boards as a regular user.
+   ```bash
+   sudo cp ~/zephyr-sdk-0.16.5-1/sysroots/x86_64-pokysdk-linux/usr/share/openocd/contrib/60-openocd.rules /etc/udev/rules.d
+   sudo udevadm control --reload
+   ```
+
+
+#### **Windows**
+Use Linux or WSL
+
+#### **WSL**
+Cry
+
+<!-- tabs:end -->
+
+# 3. Configure CLion for Zephyr [↗](https://builds.zephyrproject.io/zephyr/pr/60204/docs/develop/tools/clion.html#clion)
+
+<!-- tabs:start -->
+#### **Linux**
+
+1. Create new Toolchain
+   1. Open CLion, go to `File` > `Settings` > `Build, Execution, Deployment` > `Toolchain`
+   2. Create a new `Zephyr` toolchain
+   3. `Add environment ‣ From file` and select `~/zephyrproject/.venv/bin/activate`.
+2. Create a new project in `~/zephyrproject/zephyr/myApps/<my_project_name>`
+3. On CMake profile setting dialog, set the following:
+   - `Name`: `Zephyr`
+   - `Toolchain`: `Zephyr`
+   - `CMake options`: `-DBOARD=nrf52840dk_nrf52840` (or other board you want to use)
+4. Create the project configuration file (`prj.conf`):
+   ```
+   CONFIG_PRINTK=y
+   CONFIG_GPIO=y
+   CONFIG_DEBUG_THREAD_INFO=y
+   CONFIG_THREAD_RUNTIME_STATS=y
+   CONFIG_DEBUG_OPTIMIZATIONS=y
+   ```
+5. Create a new `main.c` file in the `src` directory. For example: 
+   ```c
+   #include <stdio.h>
+   #include <zephyr/kernel.h>
+   #include <zephyr/drivers/gpio.h>
+   
+   #define LED0_NODE DT_ALIAS(led0)
+   static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
+   
+   int main(void){
+   int ret;
+   bool led_state = true;
+   if (!gpio_is_ready_dt(&led)) return 0;
+   
+       ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
+       if (ret < 0) return 0;
+   
+       while (1) {
+           ret = gpio_pin_toggle_dt(&led);
+           if (ret < 0) return 0;
+           led_state = !led_state;
+           printf("LED state: %s\n", led_state ? "ON" : "OFF");
+           k_msleep(1000);
+       }
+   }
+   ```
+6. Create the `CMakeLists.txt` file in the root of the project
+   ```cmake
+   cmake_minimum_required(VERSION 3.13.1)
+   find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+   project(my_project_name)
+   target_sources(app PRIVATE src/main.c)
+   ```
+
+7. Enable RTOS integration
+   1. Go to `Settings ‣ Build, Execution, Deployment ‣ Embedded Development ‣ RTOS Integration`.
+   2. Set the Enable RTOS Integration checkbox. You can leave the option set to `Auto`. CLion will detect Zephyr automatically.
+
+8. Configure the debugger
+   1. Go to `Run ‣ New Embedded Configuration`.
+   2. Set the GDB settings: <br>
+      ![GDB settings](medias/GDB_settings.png)
+   3. Click on `Next`, select your board and click `Create`.
+9. Build and debug the project
+
+#### **Windows**
+Use Linux or WSL
+
+#### **WSL**
+Cry
+
+<!-- tabs:end -->
+
@@ -0,0 +1,95 @@
+<header><h1>
+OneDrive - Linux
+</h1></header>
+
+It's possible to have files from OneDrive on Linux by two ways: 
+
+----------
+
+# 1. Using rClone (Mounting)
+
+1. Update the system:
+2. Install rClone:
+    ``` bash
+    sudo apt install rclone
+    ```
+3. Configure rClone:
+    ``` bash
+    rclone config
+    ```
+4. Follow the instructions to configure rClone
+5. Create a directory to mount the OneDrive:
+    ``` bash
+    mkdir ~/OneDrive
+    ```
+6. Mount OneDrive folder:
+    ``` bash
+    rclone --vfs-cache-mode writes mount [rCloneProfilName]: ~/OneDrive
+    ```
+7. Automount OneDrive folder on Startup <br>
+    On `Startup Applications` add a new entry with the following command:
+    ``` bash
+    sh -c "rclone --vfs-cache-mode writes mount [rCloneProfilName]: ~/OneDrive"
+    ```
+
+----------
+
+# 2. Using OneDrive for Linux (Synchronization)
+This tutorial work for Ubuntu 22.04 Jammy
+
+## 2.1 Remove any configured PPA and associated 'onedrive' package and systemd service files
+
+Remove the PPA repository and the older client, run the following commands:
+``` bash
+sudo apt remove onedrive
+sudo add-apt-repository --remove ppa:yann1ck/onedrive
+```
+If no previous installation, the following command will return an error message, which can be ignored.
+
+Remove the symbolic link to the systemd service file:
+``` bash
+sudo rm /etc/systemd/user/default.target.wants/onedrive.service
+```
+
+## 2.2 Ensure the system is up to date and verify you system version
+
+1. Update the system:
+2. Reboot the system:
+3. Verify the system version:
+    ``` bash
+    lsb_release -a
+    ```
+    The output should be similar to:
+    ``` bash
+    remi@marvin:~$ lsb_release -a
+    No LSB modules are available.
+    Distributor ID:	Ubuntu
+    Description:	Ubuntu 22.04.4 LTS
+    Release:	22.04
+    Codename:	jammy
+    ```
+
+## 2.3 Install OneDrive for Linux
+
+1. Add the OpenSuSE Build Service repository release key:
+    ``` bash
+    wget -qO - https://download.opensuse.org/repositories/home:/npreining:/debian-ubuntu-onedrive/xUbuntu_22.04/Release.key | gpg --dearmor | sudo tee /usr/share/keyrings/obs-onedrive.gpg > /dev/null
+    ```
+2. Add the OpenSuSE Build Service repository:
+    ``` bash
+   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/obs-onedrive.gpg] https://download.opensuse.org/repositories/home:/npreining:/debian-ubuntu-onedrive/xUbuntu_22.04/ ./" | sudo tee /etc/apt/sources.list.d/onedrive.list
+    ```
+3. Update the package list:
+    ``` bash
+    sudo apt update
+    ```
+4. Install the OneDrive for Linux client:
+    ``` bash
+    sudo apt install --no-install-recommends --no-install-suggests onedrive
+    ```
+5. Autorun OneDrive for linux on Startup <br>
+   On `Startup Applications` add a new entry with the following command:
+    ``` bash
+    sh -c "onedrive --monitor"
+    ```
+
@@ -0,0 +1,6 @@
+<header><h1>
+Working environment at HES-SO
+</h1></header>
+
+- [OneDrive - Linux](HES-SO/OneDrive.md)
+- [Teams](HES-SO/Teams.md)
@@ -0,0 +1,79 @@
+<header><h1>
+Teams - Linux
+</h1></header>
+
+It's possible to have Microsoft Teams on Linux and to mount teams folder.
+
+----------
+
+# Install Microsoft Teams on Linux
+
+<details>
+<summary>Install Snap</summary>
+
+``` bash
+sudo apt update
+sudo apt install snapd
+```
+</details>
+
+``` bash
+sudo snap install teams-for-linux
+```
+
+# Mount Teams folder
+The various software for backing up One Drive require a "Drive ID" for copying documents.
+For the personal drive of the account this is done automatically but when you want the ID of a Teams group,
+you need the address of the Sharepoint drive. Here's how to get it.
+
+## Find drive ID
+
+1. Open the [Microsoft Graph](https://developer.microsoft.com/en-us/graph/graph-explorer) site and go to Graph Explorer
+2. Sign in with your Microsoft account and make sure the tenant is HESSO
+3. Insert the command: `https://graph.microsoft.com/v1.0/sites?search={Name_of_your_team}` then execute it. The text to the right of the symbol = acts as a search engine.
+   Here we want all sites related to FS. <br>
+   ![microsoft_graph-search_bar.png](medias/microsoft_graph-search_bar.png) <br>
+   ![microsoft_graph-result_research.png](medias/microsoft_graph-result_research.png) 
+4. Retrieve the site identification (id).
+   We also check that the site name is correct, here the first one is "ProjetFS" which is indeed the name of the Sharepoint. <br>
+   Here the site id is: "hessoit.sharepoint.com,65c4ef54-f1dd-40f2-af2d-6831f7157a0c,9f964f78-7045-481f-8f08-bb22d56de14e"
+5. Now taper the command: `https://graph.microsoft.com/v1.0/sites/{site-id}/drive` by replacing `{site-id}` with the result obtained previously. <br>
+   ![microsoft_graph-search_site_id.png](medias/microsoft_graph-search_site_id.png) <br>
+   ![microsoft_graph-result_id.png](medias/microsoft_graph-result_id.png)
+6. Retrieve the drive identification (id). <BR>
+   Here the drive id is: "b!VO_EZd3x8kCvLWgx9xV6DHhPlp9FcB9Ijwi7ItVt4U66KjVZebmAQZO2GymljnCS"
+
+## Mount Teams folder with rClone
+
+<details>
+<summary>Install rClone</summary>
+
+``` bash
+sudo apt update
+sudo apt install rclone
+```
+</details>
+
+1. Configure rClone:
+   ``` bash
+   rclone config
+   ```
+2. Follow the instructions to configure rClone
+   1. It's a "OneDrive" configuration
+   2. Leve blank the "client_id" and "client_secret"
+   3. It's on Microsoft Cloud Global
+   4. Choose "Type in driveID"
+3. Create a directory to mount the Teams:
+   ``` bash
+   mkdir ~/Teams/{Team_name}
+   ```
+4. Mount Teams folder:
+   ``` bash
+    rclone --vfs-cache-mode writes mount {team_name}: ~/Teams/{Team_name}
+    ```
+5. Automount Teams folder on Startup <br>
+6. On `Startup Applications` add a new entry with the following command:
+   ``` bash
+   sh -c "rclone --vfs-cache-mode writes mount {team_name}: ~/Teams/{Team_name}"
+   ```
+   
@@ -0,0 +1,4 @@
+# Master of science in engineering in embedded system
+
+## [SRE - Software Reverse Engineering](/MSE/SRE/)
+- [Tools](/MSE/SRE/tools.md)
@@ -0,0 +1,5 @@
+<header><h1>
+SRE - Software Reverse Engineering
+</h1></header>
+
+- [Tools](/MSE/SRE/tools.md)
@@ -0,0 +1,129 @@
+<header>
+  <h1>Tools</h1>
+</header>
+
+
+# Utilities (Linux)
+
+## strings
+For each file given, `strings` prints the printable character sequences that are at least 4 characters long (or the 
+number given with the options below) and are followed by an unprintable character. By default, it only prints the 
+strings from the initialized and loaded sections of object files. For other types of files, it prints the strings 
+from the whole file. The main use of `strings` is to find the contents of non-text files.
+
+```terminal
+$|strings code/a.out
+The sum of 1 to 63 is %d.
+```
+
+## file
+Determine file type
+
+```terminal
+$|file /bin/ls
+/bin/ls: ELF 64-bit LSB executable, x86-64, version 1 (SYSV),
+dynamically linked (uses shared libs), for GNU/Linux 2.6.18, stripped
+$|file /bin/ls
+/bin/ls: Mach-O 64-bit executable x86_64
+```
+
+## nm
+List the symbols in a object file
+
+## readelf
+Displays information about ELF files
+
+## ldd
+Displays the shared objects dependencies
+
+## lsof
+Lists files and other system ressources opened by a process
+
+## ltrace
+Traces the calls of a process to functions in dynamic libraries
+
+## strace
+Traces the systems calls of a process
+
+# Disassemblers
+
+## objdump, otool on macOS
+Open-source tools for showing different types of information about object files on Unix-based operating systems.
+
+## disassemble
+Internal command of gdb
+
+## [radare2](https://rada.re/n/radare2.html)
+Open source portable reversing framework
+
+## [Capstone](https://www.capstone-engine.org/)
+Open source lightweight multi-platform, multi-architecture disassembly framework
+
+## [Ghidra](https://ghidra-sre.org/)
+Free and open source reverse engineering toolset, released by the NSA
+
+## [Binary Ninja](https://binary.ninja/)
+Commercial, cloud and limited trial versions
+
+## [IDA Pro](https://hex-rays.com/ida-pro/)
+Free and commercial versions
+
+## [Hopper](https://www.hopperapp.com/)
+Commercial, free trial versions
+
+# Decompilers
+Hopper, Binary Ninja and Ghidra have embedded decompilers
+
+## [Hexrays](https://hex-rays.com/decompiler/)
+Commercial plugin for IDA Pro
+
+## [.NET Reflector](https://www.red-gate.com/products/dotnet-development/reflector/)
+Commercial, free trial versions
+
+## [JD](http://java-decompiler.github.io/)
+Free and open source Java decompiler
+
+## [uncompyle6](https://pypi.org/project/uncompyle6/)
+Free and open source Python bytecode decompiler
+
+# Debuggers
+
+## gdb
+open source GNU debugger
+
+## [LLDB](https://lldb.llvm.org/)
+open source debugger by the LLVM project; the default one in Apple environments
+
+## [WinDbg](https://docs.microsoft.com/en-us/windows-hardware/drivers/debugger/debugger-download-tools)
+multipurpose debugger for the Microsoft Windows computer operating system, distributed by Microsoft
+
+## [x64dbg](https://x64dbg.com/)
+open source debugger for Microsoft Windows
+
+# Emulators
+
+## [qemu](https://www.qemu.org/)
+generic and open source machine emulator and virtualizer
+
+## [Bochs](https://bochs.sourceforge.io/)
+highly portable open source IA-32 emulator
+
+# Binary Instrumentation Frameworks
+Various compilers offer instrumentation capabilities.
+
+## [PIN](https://www.intel.com/content/www/us/en/developer/articles/tool/pin-a-dynamic-binary-instrumentation-tool.html)
+free, closed-source instrumentation framework provided by Intel
+
+## [Triton](https://github.com/JonathanSalwan/Triton)
+open-source dynamic binary analysis framework
+
+## [Frida](https://frida.re/)
+open-source dynamic instrumentation toolkit for developers, reverse-engineers, and security researchers
+
+## [QBDI](https://qbdi.quarkslab.com/)
+modular, cross-platform and cross-architecture DBI framework
+
+
+```terminal
+
+```
@@ -0,0 +1,2 @@
+* [SRE - Software Reverse Engineering](/MSE/SRE/)
+  * [Tools](/MSE/SRE/tools.md)
@@ -0,0 +1,3 @@
+<header><h1>
+Security
+</h1></header>
@@ -0,0 +1,66 @@
+<header><h1>
+SSH
+</h1></header>
+
+# Add TOTP on ssh connection
+For a more secure ssh connection, you can add TOTP (Time-based One-Time Password) to your ssh connection.
+This will require you to enter a password and a TOTP code to connect to your server.
+This is a good way to add an extra layer of security to your server.
+
+## Installing Google Authenticator PAM
+```bash
+sudo apt install libpam-google-authenticator
+```
+## Configuring SSHD for Google PAM
+1. Edit the sshd configuration file
+    ```bash
+    sudo nano /etc/pam.d/sshd
+    ```
+2. Modified the file to look like this
+   ```bash
+   # PAM configuration for the Secure Shell service
+
+   # Standard Un*x authentication.
+   #@include common-auth
+   
+   . . .
+   
+   # Standard Un*x password updating.
+   @include common-password
+   auth required pam_google_authenticator.so nullok
+   ```
+   Comment out the `@include common-auth` for disable password authentication.
+   `nullok` allows users without a TOTP code to connect without one.
+3. Edit the sshd configuration file
+    ```bash
+    sudo nano /etc/ssh/sshd_config
+    ```
+4. Add the following line to the bottom of the file
+   ```bash
+   . . .
+   # Change to yes to enable challenge-response passwords (beware issues with
+   # some PAM modules and threads)
+   ChallengeResponseAuthentication yes
+   . . .
+   UsePAM yes
+   AuthenticationMethods publickey,password publickey,keyboard-interactive
+   . . .
+   ```
+5. Restart the sshd service
+    ```bash
+    sudo systemctl restart sshd
+    ```
+   
+## Generating the Google Authenticator QR Code
+1. Run the following command
+    ```bash
+    google-authenticator
+    ```
+2. Answer the following questions
+3. Scan the QR code with your Google Authenticator app
+4. Save the emergency scratch codes in a safe place
+5. Restart the sshd service
+    ```bash
+    sudo systemctl restart sshd
+    ```
+
@@ -0,0 +1,13 @@
+* [Bachelor Infotro](/infotro/)
+  * [PTR - Programmation Temps Réel](/infotro/PTR/)
+  * [SDi - Systèmes Distribués](/infotro/SDi/)
+  * [Eln - Électronique](/infotro/Eln/)
+  * [SEm - Systèmes Embarqués](/infotro/SEm/)
+* [MSE](/MSE/)
+  * [SRE](/MSE/SRE/)
+* [Embed](/Embed/)
+  * [STM32](/Embed/STM32/)
+  * [nRF](/Embed/nRF/)
+* [HES-SO](/HES-SO/)
+  * [OneDrive - Linux](/HES-SO/OneDrive.md)
+  * [Teams - Linux](/HES-SO/Teams.md)
@@ -0,0 +1,312 @@
+#Demo
+$$
+E=mc^2
+$$
+-----------
+
+[panel.md](divers/panel.md)
+
+-----------
+
+
+# FAQ Section
+
+Introduction text for the FAQ page.
+
+ Question 1? +
+
+  Answer 1
+
+ Question 2? +
+
+  Answer 2
+
+
+-----------
+
+```mermaid
+zenuml
+    title Declare participant (optional)
+    Bob
+    Alice
+    
+    Alice->Bob: Hi Bob
+    Bob->Alice: Hi Alice
+```
+
+-----------
+
+```mermaid
+%%{init: { 'logLevel': 'debug', 'theme': 'forest' } }%%
+sequenceDiagram
+    Alice->>John: Hello John, how are you?
+    John-->>Alice: Great!
+    Alice-)John: See you later!
+    Alice->>John: See you later!
+```
+
+-----------
+
+```plantuml
+@startuml
+
+Alice ->> "Bob()" : Hello
+"Bob()" -> "This is very\nlong" as Long
+' You can also declare:
+' "Bob()" -> Long as "This is very\nlong"
+Long --> "Bob()" : ok
+@enduml
+
+```
+
+-----------
+
+![example4_v3.png](example4_v3.png)
+
+-----------
+
+[transmission_process.md](../infotro/SDi/transmission_process.md)
+
+-----------
+
+## embedding it directly
+
+Theme valid: base, forest, 
+```mermaid
+%%{init: { 'logLevel': 'debug', 'theme': 'base' } }%%
+
+gitGraph
+   commit
+   commit
+   branch develop
+   checkout develop
+   commit
+   commit
+   checkout main
+   merge develop
+   commit
+   commit
+```
+
+-----------
+
+```mermaid
+graph TD;
+    A-->B;
+    A-->C;
+    B-->D;
+    C-->D;
+```
+
+-----------
+
+```plantuml
+@startuml
+Alice -> Bob: Authentication Request
+Bob --> Alice: Authentication Response
+
+Alice -> Bob: Another authentication Request
+Alice <-- Bob: another authentication Response
+@enduml
+```
+
+-----------
+
+## load from external files
+
+![kroki-excalidraw](excalidraw.json)
+
+-----------
+
+## Wavedrom
+```wavedrom
+   { "signal": [
+      { "name": "pclk", "wave": 'p.......' },
+      { "name": "Pclk", "wave": 'P.......' },
+      { "name": "nclk", "wave": 'n.......' },
+      { "name": "Nclk", "wave": 'N.......' },
+      {},
+      { "name": 'clk0', "wave": 'phnlPHNL' },
+      { "name": 'clk1', "wave": 'xhlhLHl.' },
+      { "name": 'clk2', "wave": 'hpHplnLn' },
+      { "name": 'clk3', "wave": 'nhNhplPl' },
+      { "name": 'clk4', "wave": 'xlh.L.Hx' },
+   ]}
+```
+
+-----------
+
+## Wavedrom register
+```wavedrom
+{"reg": [
+    {bits: 7,  name: 'opcode',     attr: ['LUI', 'AUIPC']},
+    {bits: 5,  name: 'rd',         attr: 'dest'},
+    {bits: 20, name: 'imm[31:12]', attr: 'U-immediate[31:12]', type: 3}
+], config: {hspace: width}}
+}
+```
+
+# Code exemple
+``` cpp
+void foo(uint8_t bar){
+	bar *= 4;
+	(void*) bar;
+}
+```
+
+
+## drawio
+
+```drawio
+<?xml version="1.0" encoding="UTF-8"?>
+<mxfile host="embed.diagrams.net" modified="2023-11-21T16:13:24.061Z" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64; rv:109.0) Gecko/20100101 Firefox/119.0" etag="uH8AfpMK1L6zxq501sk9" version="22.1.3" type="embed">
+  <diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">
+    <mxGraphModel dx="1410" dy="1899" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
+      <root>
+        <mxCell id="WIyWlLk6GJQsqaUBKTNV-0" />
+        <mxCell id="WIyWlLk6GJQsqaUBKTNV-1" parent="WIyWlLk6GJQsqaUBKTNV-0" />
+        <mxCell id="HSGzQKdNW0ipQrgMzVfQ-7" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="zkfFHV4jXpPFQw0GAbJ--0" target="HSGzQKdNW0ipQrgMzVfQ-1" edge="1">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--0" value="Person" style="swimlane;fontStyle=2;align=center;verticalAlign=top;childLayout=stackLayout;horizontal=1;startSize=26;horizontalStack=0;resizeParent=1;resizeLast=0;collapsible=1;marginBottom=0;rounded=0;shadow=0;strokeWidth=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="220" y="120" width="160" height="138" as="geometry">
+            <mxRectangle x="230" y="140" width="160" height="26" as="alternateBounds" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--1" value="Name" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--0" vertex="1">
+          <mxGeometry y="26" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--2" value="Phone Number" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rounded=0;shadow=0;html=0;" parent="zkfFHV4jXpPFQw0GAbJ--0" vertex="1">
+          <mxGeometry y="52" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--3" value="Email Address" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rounded=0;shadow=0;html=0;" parent="zkfFHV4jXpPFQw0GAbJ--0" vertex="1">
+          <mxGeometry y="78" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--4" value="" style="line;html=1;strokeWidth=1;align=left;verticalAlign=middle;spacingTop=-1;spacingLeft=3;spacingRight=3;rotatable=0;labelPosition=right;points=[];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--0" vertex="1">
+          <mxGeometry y="104" width="160" height="8" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--5" value="Purchase Parking Pass" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--0" vertex="1">
+          <mxGeometry y="112" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--6" value="Student" style="swimlane;fontStyle=0;align=center;verticalAlign=top;childLayout=stackLayout;horizontal=1;startSize=30;horizontalStack=0;resizeParent=1;resizeLast=0;collapsible=1;marginBottom=0;rounded=0;shadow=0;strokeWidth=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="120" y="360" width="160" height="142" as="geometry">
+            <mxRectangle x="120" y="360" width="160" height="26" as="alternateBounds" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--7" value="Student Number" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--6" vertex="1">
+          <mxGeometry y="30" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--8" value="Average Mark" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;rounded=0;shadow=0;html=0;" parent="zkfFHV4jXpPFQw0GAbJ--6" vertex="1">
+          <mxGeometry y="56" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--9" value="" style="line;html=1;strokeWidth=1;align=left;verticalAlign=middle;spacingTop=-1;spacingLeft=3;spacingRight=3;rotatable=0;labelPosition=right;points=[];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--6" vertex="1">
+          <mxGeometry y="82" width="160" height="8" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--10" value="Is Eligible To Enroll" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;fontStyle=4" parent="zkfFHV4jXpPFQw0GAbJ--6" vertex="1">
+          <mxGeometry y="90" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--11" value="Get Seminars Taken" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--6" vertex="1">
+          <mxGeometry y="116" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--12" value="" style="endArrow=block;endSize=10;endFill=0;shadow=0;strokeWidth=1;rounded=0;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="zkfFHV4jXpPFQw0GAbJ--6" target="zkfFHV4jXpPFQw0GAbJ--0" edge="1">
+          <mxGeometry width="160" relative="1" as="geometry">
+            <mxPoint x="200" y="203" as="sourcePoint" />
+            <mxPoint x="200" y="203" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--13" value="Professor" style="swimlane;fontStyle=0;align=center;verticalAlign=top;childLayout=stackLayout;horizontal=1;startSize=26;horizontalStack=0;resizeParent=1;resizeLast=0;collapsible=1;marginBottom=0;rounded=0;shadow=0;strokeWidth=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="330" y="360" width="160" height="70" as="geometry">
+            <mxRectangle x="340" y="380" width="170" height="26" as="alternateBounds" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--14" value="Salary" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--13" vertex="1">
+          <mxGeometry y="26" width="160" height="26" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--15" value="" style="line;html=1;strokeWidth=1;align=left;verticalAlign=middle;spacingTop=-1;spacingLeft=3;spacingRight=3;rotatable=0;labelPosition=right;points=[];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--13" vertex="1">
+          <mxGeometry y="52" width="160" height="8" as="geometry" />
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--16" value="" style="endArrow=block;endSize=10;endFill=0;shadow=0;strokeWidth=1;rounded=0;edgeStyle=elbowEdgeStyle;elbow=vertical;" parent="WIyWlLk6GJQsqaUBKTNV-1" source="zkfFHV4jXpPFQw0GAbJ--13" target="zkfFHV4jXpPFQw0GAbJ--0" edge="1">
+          <mxGeometry width="160" relative="1" as="geometry">
+            <mxPoint x="210" y="373" as="sourcePoint" />
+            <mxPoint x="310" y="271" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--17" value="Address" style="swimlane;fontStyle=0;align=center;verticalAlign=top;childLayout=stackLayout;horizontal=1;startSize=26;horizontalStack=0;resizeParent=1;resizeLast=0;collapsible=1;marginBottom=0;rounded=0;shadow=0;strokeWidth=1;" parent="WIyWlLk6GJQsqaUBKTNV-1" vertex="1">
+          <mxGeometry x="508" y="120" width="160" height="216" as="geometry">
+            <mxRectangle x="550" y="140" width="160" height="26" as="alternateBounds" />
+          </mxGeometry>
+        </mxCell>
+        <mxCell id="zkfFHV4jXpPFQw0GAbJ--18" value="Street" style="text;align=left;verticalAlign=top;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" parent="zkfFHV4jXpPFQw0GAbJ--17" vertex="1">
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+</mxfile>
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+      "strokeColor": "#000000",
+      "backgroundColor": "#868e96",
+      "width": 484,
+      "height": 45,
+      "seed": 1988297464,
+      "groupIds": [],
+      "strokeSharpness": "sharp",
+      "boundElementIds": ["1v60NED2criGG-wo9-oQL"],
+      "fontSize": 36,
+      "fontFamily": 1,
+      "text": "Re-optimize and Deoptimize",
+      "baseline": 32,
+      "textAlign": "left",
+      "verticalAlign": "top"
+    },
+    {
+      "type": "arrow",
+      "version": 708,
+      "versionNonce": 185615496,
+      "isDeleted": false,
+      "id": "jjuPzyRneMv3f65lps_6a",
+      "fillStyle": "hachure",
+      "strokeWidth": 1,
+      "strokeStyle": "solid",
+      "roughness": 1,
+      "opacity": 100,
+      "angle": 0,
+      "x": 1140,
+      "y": 80,
+      "strokeColor": "#000000",
+      "backgroundColor": "#868e96",
+      "width": 20,
+      "height": 60,
+      "seed": 1767688328,
+      "groupIds": [],
+      "strokeSharpness": "round",
+      "boundElementIds": [],
+      "startBinding": {
+        "focus": -0.3021784319542362,
+        "gap": 14.800415739789742,
+        "elementId": "qhkjvI1VmWZdnKvU5QKZK"
+      },
+      "endBinding": {
+        "focus": 0.15789473684210528,
+        "gap": 1,
+        "elementId": "of76J4WOJHnHi0L61Vst_"
+      },
+      "points": [[0, 0], [-20, 20], [0, 60]],
+      "lastCommittedPoint": null,
+      "startArrowhead": null,
+      "endArrowhead": "arrow"
+    },
+    {
+      "type": "text",
+      "version": 213,
+      "versionNonce": 2105884296,
+      "isDeleted": false,
+      "id": "qhkjvI1VmWZdnKvU5QKZK",
+      "fillStyle": "hachure",
+      "strokeWidth": 1,
+      "strokeStyle": "solid",
+      "roughness": 1,
+      "opacity": 100,
+      "angle": 0,
+      "x": 1080,
+      "y": 20.19958426021026,
+      "strokeColor": "#000000",
+      "backgroundColor": "#868e96",
+      "width": 139,
+      "height": 45,
+      "seed": 2115494904,
+      "groupIds": [],
+      "strokeSharpness": "sharp",
+      "boundElementIds": ["jjuPzyRneMv3f65lps_6a"],
+      "fontSize": 36,
+      "fontFamily": 1,
+      "text": "Execute",
+      "baseline": 32,
+      "textAlign": "left",
+      "verticalAlign": "top"
+    },
+    {
+      "type": "arrow",
+      "version": 707,
+      "versionNonce": 543827960,
+      "isDeleted": false,
+      "id": "5QQzhw_uqk_rBaW2wMriT",
+      "fillStyle": "hachure",
+      "strokeWidth": 1,
+      "strokeStyle": "solid",
+      "roughness": 1,
+      "opacity": 100,
+      "angle": 0,
+      "x": 1220,
+      "y": 240,
+      "strokeColor": "#000000",
+      "backgroundColor": "#868e96",
+      "width": 20,
+      "height": 80,
+      "seed": 2059564936,
+      "groupIds": [],
+      "strokeSharpness": "round",
+      "boundElementIds": [],
+      "startBinding": {
+        "focus": 0.7391304347826086,
+        "gap": 2,
+        "elementId": "C6fyzTg2FHAmrRYfC_THm"
+      },
+      "endBinding": {
+        "focus": 0.3333333333333333,
+        "gap": 1,
+        "elementId": "SlvbjeV-9lXbcrlKib-hj"
+      },
+      "points": [[0, 0], [20, -40], [20, -80]],
+      "lastCommittedPoint": null,
+      "startArrowhead": null,
+      "endArrowhead": "arrow"
+    },
+    {
+      "type": "text",
+      "version": 227,
+      "versionNonce": 2002374136,
+      "isDeleted": false,
+      "id": "C6fyzTg2FHAmrRYfC_THm",
+      "fillStyle": "hachure",
+      "strokeWidth": 1,
+      "strokeStyle": "solid",
+      "roughness": 1,
+      "opacity": 100,
+      "angle": 0,
+      "x": 1160,
+      "y": 220,
+      "strokeColor": "#000000",
+      "backgroundColor": "#868e96",
+      "width": 58,
+      "height": 45,
+      "seed": 1651025144,
+      "groupIds": [],
+      "strokeSharpness": "sharp",
+      "boundElementIds": ["5QQzhw_uqk_rBaW2wMriT"],
+      "fontSize": 36,
+      "fontFamily": 1,
+      "text": "GC😃棒",
+      "baseline": 32,
+      "textAlign": "left",
+      "verticalAlign": "top"
+    }
+  ],
+  "appState": {
+    "viewBackgroundColor": "#ffffff",
+    "gridSize": 20
+  }
+}
@@ -0,0 +1,365 @@
+# docsify-example-panels
+
+[![NPM](https://img.shields.io/npm/v/docsify-example-panels.svg?style=flat-square)](https://www.npmjs.com/package/docsify-example-panels)
+[![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/docsifyjs/awesome-docsify#plugins)
+[![Codacy Badge](https://api.codacy.com/project/badge/Grade/9f47a225f5044aa491cc77ed7361a983)](https://app.codacy.com/app/VagnerDomingues/docsify-example-panels?utm_source=github.com&utm_medium=referral&utm_content=VagnerDomingues/docsify-example-panels&utm_campaign=Badge_Grade_Dashboard)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg?style=flat-square)](https://github.com/VagnerDomingues/docsify-example-panels/blob/master/LICENSE)
+[![](https://data.jsdelivr.com/v1/package/npm/docsify-example-panels/badge)](https://www.jsdelivr.com/package/npm/docsify-example-panels)
+[![Tweet](https://img.shields.io/twitter/url/http/shields.io.svg?style=social)](https://twitter.com/intent/tweet?url=https%3A%2F%2Fgithub.com%2FVagnerDomingues%2Fdocsify-example-panels&hashtags=docsify,developers,frontend,plugin,documentation)
+<a class="github-button" href="https://github.com/VagnerDomingues/docsify-example-panels" data-icon="octicon-star" data-show-count="true" aria-label="Star VagnerDomingues/docsify-example-panels on GitHub">Star</a>
+
+A [docsify.js](https://docsify.js.org) plugin for rendering example panels content from markdown.
+
+<!-- panels:start -->
+
+<!-- div:title-panel -->
+
+## Demo
+
+<!-- div:left-panel -->
+
+If you are on widescreen, checkout the *right* panel, *right* there →
+
+<!-- div:right-panel -->
+
+This is an example panel.
+
+You can see it's usage in practice in the docs listed below:
+
+-   [Fairlay API](https://fairlay.com/api)
+-   [FLAP services](https://docs.flap.cloud/#/create_new_service?id=special-files)
+
+<small>please contact me if you use docsify-example-panels. i would like to display it here too.</small>
+
+<!-- div:title-panel -->
+
+## Features
+
+<!-- div:left-panel -->
+
+**Advantages**
+
+-   Create div panels really fast and anywhere in your .md file.
+-   Choose the classnames for your divs and stylize them.
+-   Use CSS custom properties to change it's structure.
+-   Prefab CSS classes for "left-panel", "right-panel" and "title-panel".
+
+**Compatibility**
+
+-   Fully compatible with any markdown or html features:
+
+<details>
+  <summary>code snippets </summary>
+
+```html
+  <body>
+    <img src="http://www.pudim.com.br/pudim.jpg">
+  </body>
+```
+
+</details>
+
+<details>
+  <summary>quotes</summary>
+
+> just a quote
+
+?> a cooler quote...  <small> (at least i think it is)</small>
+
+</details>
+
+<details>
+  <summary>images <small>(memorable)</small></summary>
+
+  <br/>
+  <img src="https://avatars0.githubusercontent.com/u/5666881?s=400&u=d94729bdf16611396a720b338c115ec0be656ba6&v=4" width="64" height="64">
+</details>
+
+-   Fully compatible with major docsify plugins such as:
+
+> [docsify-themeable](https://jhildenbiddle.github.io/docsify-themeable/)
+>
+> [docsify-tabs](https://jhildenbiddle.github.io/docsify-tabs/)
+>
+> [docsify-copy-code](https://github.com/jperasmus/docsify-copy-code)
+>
+> [docsify-pagination](https://github.com/imyelo/docsify-pagination)
+
+**Limitations**
+
+*Nesting* (i.e panels within panels) all pannels are rendered as siblings, Nesting only avaiable throught post-render javascript code.
+
+<!-- div:right-panel -->
+
+For multi-language documentation you can use it along with [docsify-tabs](https://jhildenbiddle.github.io/docsify-tabs/):
+
+<!-- tabs:start -->
+
+### **HTML**
+
+```html
+<!-- HTML -->
+<h1>Heading</h1>
+<p>This is a paragraph.</p>
+```
+
+### **JS**
+
+```js
+// JavaScript
+function add(a, b) {
+  return Number(a + b);
+}
+```
+
+### **CSS**
+
+```css
+/* CSS */
+body {
+  background: white;
+}
+```
+
+<!-- tabs:end -->
+
+<!-- div:title-panel -->
+
+## Installation
+
+<!-- div:left-panel -->
+
+Just add the docsify-example-panels plugin to your `HTML` after docsify and you'll be ready to go.
+
+<!-- div:right-panel -->
+
+```html
+<!-- docsify (latest v4.x.x)-->
+<script src="https://cdn.jsdelivr.net/npm/docsify@4"></script>
+
+<!-- docsify-example-panels (latest) -->
+<script src="https://cdn.jsdelivr.net/npm/docsify-example-panels"></script>
+```
+
+<!-- div:title-panel -->
+
+## Usage
+
+<!-- div:left-panel -->
+
+1.  Define a panel in markdown file using `panels:start` and `panels:end` HTML comments.
+
+    HTML comments are used to mark the start and end of a panel. The use of HTML comments prevents any markup from being displayed when markdown is rendered as HTML outside of your docsify site (e.g. Github, GitLab, etc).
+
+<!-- div:right-panel -->
+
+```markdown
+ <!--&nbsp;panels:start&nbsp;-->
+
+(...) - Awesome div wrapper
+
+ <!--&nbsp;panels:end&nbsp;-->
+```
+
+<!-- div:left-panel -->
+
+2.  Define divs within a panel in markdown file using HTML comments.
+
+    The character sequence after double dot : will be rendered as the classname of the div content. all proceeding content will be associated with that div up to start of the next div `div:class` or end of panel `panels:end` comments.
+
+<!-- div:right-panel -->
+
+```markdown
+<!--&nbsp;panels:start&nbsp;-->
+<!--&nbsp;div:title-panel&nbsp;-->
+
+  (...) - Awesome title
+
+<!--&nbsp;div:left-panel&nbsp;-->
+
+  (...) - Awesome explanation
+
+<!--&nbsp;div:right-panel&nbsp;-->
+
+
+  (...) - Awesome example
+
+<!--&nbsp;panels:end&nbsp;-->
+```
+
+<!-- div:left-panel -->
+
+3.  You can add a custom class aswell.
+
+    perphaps you want something like a "floating-cat" class
+
+<!-- div:right-panel -->
+
+```markdown
+<!--&nbsp;panels:start&nbsp;-->
+<!--&nbsp;div:your-custom-class&nbsp;-->
+
+...
+
+<!--&nbsp;panels:end&nbsp;-->
+```
+
+<!-- div:title-panel -->
+
+## Customization
+
+<!-- div:left-panel -->
+
+### Properties
+
+Allows you to customize panels styles without rewriting any CSS rule.
+
+<!-- div:right-panel -->
+
+```css
+:root{
+    /* Document */
+    --docsify-example-panels-document-width: 90%;
+
+    /* Wrapper */
+    --docsify-example-panels-wrapper-width: 100%;
+
+    /* Standards */
+    --docsify-example-panels-padding-inner : 8px 16px;
+    --docsify-example-panels-padding-surroundings : 0px;
+
+    /* Panel Left */
+    --docsify-example-panels-left-panel-background : transparent;
+    --docsify-example-panels-left-panel-width : 60%;
+
+    /* Panel Right */
+    --docsify-example-panels-right-panel-background : transparent;
+    --docsify-example-panels-right-panel-width : 40%;
+
+    /* Titles */
+    --docsify-example-panels-title-background: transparent;
+}
+```
+
+<!-- div:left-panel -->
+
+### Custom Properties
+
+You can change properties by adding a `<style>` tag or `<link>` reference to your `index.html` file after all other stylesheets, just remember to set the properties within a `:root` selector.
+
+<!-- div:right-panel -->
+
+```html
+<style>
+  :root {
+    --docsify-example-panels-document-width: 100%; /* Remove margins */
+    --docsify-example-panels-left-panel-width : 70%; /* bit more for left */
+    --docsify-example-panels-right-panel-width : 30%; /* bit less for right */
+  }
+</style>
+```
+<br/>
+<br/>
+<!-- div:title-panel -->
+
+### Custom Styles
+
+Custom styles can be created using the classname you choosed in markdown
+
+The main purpose of this plugin is to ease and rush the production of any markdown written documentation using the right panel as code examples.
+
+But let's suppose you indeed wants to add a floating cat in your documentation, like i did.
+
+<small> In case you insisted to read this in github url the cat image won't be so floating.</small>
+
+<!-- div:floating-cat -->
+
+<img src="assets/imgs/floating-cat.png">
+
+<!-- div:title-panel -->
+<hr>
+
+<!-- div:left-panel -->
+
+1.  Add this to your markdown:
+
+<!-- div:right-panel -->
+
+```markdown
+  <!--&nbsp;panels:start&nbsp;-->
+  <!--&nbsp;div:floating-cat&nbsp;-->
+
+  <img src="path/to/floating-cat.png">
+
+  <!--&nbsp;panels:end&nbsp;-->
+```
+
+<!-- div:left-panel -->
+
+2.  will be rendered like this:
+
+<!-- div:right-panel -->
+
+```html
+<div class="docsify-example-panels">
+    <div class="docsify-example-panels floating-cat">
+        <img src="path/to/floating-cat.png">
+    </div>
+</div>
+```
+
+<!-- div:left-panel -->
+
+3.  Then you can play with css animations:
+
+<!-- div:right-panel -->
+
+```css
+.floating-cat{
+  position:absolute;
+  right:  0px;
+  width: 200px;
+  height: 360px;
+  z-index: 1000;
+
+  -webkit-filter: drop-shadow(0px 5px 15px rgba(0,0,0,0.6));
+  filter: drop-shadow(0px 5px 15px rgba(0,0,0,0.6));
+
+  transform: translatey(0px);
+  animation: float 6s ease-in-out infinite;
+}
+@keyframes float {
+  0% {
+      -webkit-filter: drop-shadow(0px 5px 5px rgba(0,0,0,0.8));
+      filter: drop-shadow(0px 5px 5px rgba(0,0,0,0.6));
+      transform: translatey(0px);
+  }
+  50% {
+      box-shadow: drop-shadow(0px 25px 10px rgba(0,0,0,0.4));
+      filter: drop-shadow(0px 25px 10px rgba(0,0,0,0.2));
+      transform: translatey(-20px);
+  }
+  100% {
+      box-shadow: drop-shadow(0px 5px 5px rgba(0,0,0,0.8));
+      filter: drop-shadow(0px 5px 5px rgba(0,0,0,0.6));
+      transform: translatey(0px);
+  }
+}
+```
+
+<!-- panels:end -->
+
+## Contact & Support
+
+-   Create a [GitHub issue](https://github.com/VagnerDomingues/docsify-example-panels/issues) for bug reports, feature requests, or questions
+-   Add a ⭐️ [star on GitHub](https://github.com/VagnerDomingues/docsify-example-panels) or ❤️ [tweet](https://twitter.com/intent/tweet?url=https%3A%2F%2Fgithub.com%2FVagnerDomingues%2Fdocsify-example-panels&hashtags=docsify,developers,frontend,plugin,documentation) to support the project!
+
+## License
+
+This project is licensed under the [MIT license](https://github.com/VagnerDomingues/docsify-example-panels/blob/master/LICENSE).
+
+Plugin created by [Vagner Domingues Madeira](https://github.com/VagnerDomingues/)
+
+<!-- GitHub Buttons -->
+
+<script async defer src="https://buttons.github.io/buttons.js"></script>
@@ -0,0 +1,209 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <title>Document</title>
+  <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1" />
+  <meta name="description" content="Yggdrasil is a collections of notes around IT, OT and other geeks stuff">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0, minimum-scale=1.0">
+  <link rel="icon" href="style/yggdrasil.ico">
+  <link
+          rel="stylesheet"
+          href="//cdn.jsdelivr.net/npm/docsify-darklight-theme@latest/dist/style.min.css"
+          title="docsify-darklight-theme"
+          type="text/css"
+  />
+  <link href="https://fonts.googleapis.com/icon?family=Material+Icons"
+  rel="stylesheet">
+</head>
+
+<body>
+  <div id="app">Yggdrasil</div>
+  <footer id="mb-footer"></footer>
+  <script>
+    window.$docsify = {
+      name: 'Yggdrasil',
+      repo: 'https://github.com/Klagarge/Yggdrasil.git',
+      maxLevel: 5,
+      coverpage: 'style/_coverpage.md',
+      loadNavbar: true, // Nav bar on top
+      subMaxLevel: 5, // Add table of contents (TOC) in custom sidebar.
+      auto2top: true, // Scrolls to the top of the screen when the route is changed.
+      mergeNavbar: true, // Navbar will be merged with the sidebar on smaller screens.
+      latex: {
+        inlineMath   : [['$', '$'], ['\\(', '\\)']], // default
+        displayMath  : [['$$', '$$']],               // default
+        customOptions: {}                            // default
+      },
+      select: {
+        detectOperatingSystem: {
+          enabled: false,
+          menuId: "operating-system"
+        }
+      },
+      flexibleAlerts: {
+        style: 'callout'
+      },
+      markdown: {
+        renderer: {
+
+          code: function (code, lang) {
+            if (lang === 'drawio') {
+              if (window.drawioConverter) {
+                console.log('drawio')
+                return window.drawioConverter(code)
+              } else {
+                return `<div class='drawio-code'>${code}</div>`
+              }
+            } else {
+              return this.origin.code.apply(this, arguments);
+            }
+          }
+        }
+      },
+      darklightTheme: {
+        siteFont : "Ubuntu",
+        defaultTheme : 'light',
+        codeFontFamily : 'Roboto Mono, Monaco, courier, monospace',
+        bodyFontSize : '17px',
+        dark: {
+          coverBackground : 'linear-gradient(to left bottom, hsl(118, 18%, 34%) 0%,hsl(207, 63%, 10%) 100%)',
+        },
+        light: {
+          coverBackground : 'linear-gradient(to left bottom, hsl(118, 100%, 85%) 0%,hsl(181, 100%, 100%) 100%)',
+        }
+      },
+      kroki: {
+        langs: [
+          "actdiag",
+          "blockdiag",
+          "bpmn",
+          "bytefield",
+          "c4plantuml",
+          "d2",
+          "dbml",
+          "ditaa",
+          "erd",
+          "excalidraw",
+          "graphviz",
+          "nomnoml",
+          "nwdiag",
+          "packetdiag",
+          "pikchr",
+          //"plantuml",
+          "rackdiag",
+          "seqdiag",
+          "structurizr",
+          "svgbob",
+          "symbolator",
+          "tikz",
+          "vega",
+          "vegalite",
+          "wavedrom",
+          "wireviz",
+          "umlet",
+        ],
+      },
+      plantuml: {
+        skin: "classic",
+        renderAsObject: false,
+      },
+      count:{
+        position: 'bottom',
+        float: 'left',
+        isExpected: false
+      },
+      timeUpdater: {
+        text: "<div align='center' width='200px' style='color:gray;font-size:10px' >last update time: {docsify-updated}</div>",
+        formatUpdated: "{YYYY}-{MM}-{DD} {HH}:{mm}",
+        whereToPlace: "top",
+      },
+      tabs: {
+        persist: true, // default
+        sync: true, // default
+        theme: 'classic', // default
+        tabComments: true, // default
+        tabHeadings: true // default
+      },
+    };
+  </script>
+
+  <!----- Docsify v4 ----->
+  <script src="//cdn.jsdelivr.net/npm/docsify@4"></script>
+
+  <!----- Render PlantUML ----->
+  <script src="//unpkg.com/docsify-puml/dist/docsify-puml.min.js"></script>
+
+  <!----- Render graph (UML/Mermaid/...) ----->
+  <script src="//unpkg.com/docsify-kroki"></script>
+
+  <!----- Mermaid (use this one for Light and Dark theme ----->
+  <script type="module">
+    import mermaid from "https://cdn.jsdelivr.net/npm/mermaid@10/dist/mermaid.esm.min.mjs";
+    mermaid.initialize({ startOnLoad: true });
+    window.mermaid = mermaid;
+  </script>
+  <script src="//unpkg.com/docsify-mermaid@2.0.1/dist/docsify-mermaid.js"></script>
+
+  <!----- Copy code button ----->
+  <script src="//cdn.jsdelivr.net/npm/docsify-copy-code/dist/docsify-copy-code.min.js"></script>
+
+  <!----- LateX ----->
+  <script src="//cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/docsify-latex@0"></script>
+
+  <!----- Flexible alert ----->
+  <script src="https://unpkg.com/docsify-plugin-flexible-alerts"></script>
+
+  <!----- Code highlights ----->
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-armasm.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-matlab.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-c.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-cpp.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-java.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-xml.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-json.js"></script>
+  <script src="//cdn.jsdelivr.net/npm/prismjs@1/components/prism-sql.js"></script>
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+<header><h1>
+AD/DA
+</h1></header>
+
+Il existe 4 méthodes principales pour une conversion Analogique vers Digital:
+- Parallèle
+- Par pesée
+- Par comptage
+- Sigma-delta
+
+|                         | + (Avantage)           | - (Inconvénient)            |
+|-------------------------|------------------------|-----------------------------|
+| **Parallèle<br>Unaire** | Simplicité<br>Monotone | Taille du circuit ~$2^{n}$  |
+| **Pesée**               | Taille du circuit ~$n$ |                             |
+| **Par comptage**        | 1 seul switch          | Nécessite d'aller très vite |
+
+$$SNR [dB]=6,02\cdot n+1,78$$
+$n$ : nombre de bits du convertisseur
+
+$$OSR = \frac{f_{s}}{2f_{0}}$$
+$OSR$ : OverSampling Ratio <br>
+$f_{s}$ : Sampling Frequency <br>
+$f_{0}$ : Entry Fréquency <br>
+
+$$n=\frac{SNR}{20\log_{10}(2\cdot OSR)}$$
+$n$ : Ordre du filtre <br>
+$SNR$ : Signal sur bruit <br>
+$OSR$ : Oversampling ratio <br>
+
+
+
+
+# AD - Parallèle
+
+![AD Parallèle](medias/parallele.png ':size=200')
+
+----------
+
+# AD - Par comptage
+Un seul switch mais avec une fréquence de commutation très rapide  
+$$
+V_{a} = \frac{t_{on}}{T}\cdot V_{ref}
+$$
+![AD par comptage](medias/comptage.png ':size=300')
+![Graph AD par comptage](medias/comptage-graph.png ':size=200')
+
+----------
+
+# AD - Par pesée
+Un switch par bit.
+
+![AD par pesée](medias/pesee.png ':size=300')
+
+Pour un $V_{red} = 1[V]$ on a:
+
+| z2 | z1 | z0 | Va    |  
+|----|----|----|-------|  
+| 0  | 0  | 0  | 0,000 |  
+| 0  | 0  | 1  | 0,125 |  
+| 0  | 1  | 0  | 0,250 |  
+| 0  | 1  | 1  | 0,375 |  
+| 1  | 0  | 0  | 0,500 |  
+| 1  | 0  | 1  | 0,625 |  
+| 1  | 1  | 0  | 0,750 |  
+| 1  | 1  | 1  | 0,875 |  
+
+----------
+
+# DA - Échantillonneur avec maintien
+
+
+# Caractéristique de convertisseurs
+
+## Digits et affichage
+
+$$
+nBits = Ceiling\left[log_2\cdot \frac{plage}{pas}\right]
+$$
+
+----------
+
+# Sigma / Delta
+
+[sigma-delta.drawio](medias/sigma-delta.drawio ':include :type=code')
+
+
+## Principe
+Un convertisseur analogique-numérique (AD) ou numérique-analogique (DA) delta-sigma se compose toujours d'un modulateur
+delta-sigma produisant un "flux binaire" ou "signal binaire séquentiel" et d'un filtre passe-bas.
+
+Le modulateur peut être mis en œuvre comme un circuit numérique pour un signal numérique ou comme un circuit analogique
+pour un signal analogique. De même, le filtre passe-bas peut être analogique pour générer un signal de sortie
+analogique ou numérique, réalisé soit par un circuit numérique soit par un algorithme dans un processeur de signal.
+Cette structure permet d'explorer le flux binaire et le filtre passe-bas avant d'approfondir l'étude du
+modulateur delta-sigma.
+
+### Le flux binaire
+Le flux binaire peut être interprété comme un signal numérique ou analogique.
+Il s'agit d'un signal séquentiel à un bit avec une fréquence d'horloge significativement plus élevée que le débit des
+données numériques de l'ADC ou du DAC. Sa caractéristique essentielle est que sa moyenne correspond à la moyenne du
+signal d'entrée. Un niveau logique "haut" représente la valeur maximale de sortie, tandis qu'un niveau logique "bas"
+représente la valeur minimale de sortie.
+
+- **Sortie analogique :** Le flux binaire est converti par un DA à un bit en un signal analogique.
+  Les valeurs d'entrée "bas" et "haut" se traduisent respectivement par deux tensions analogiques précises, par exemple,
+  1V et +1V.
+
+- **Sortie numérique :** Dans le cas d'une sortie numérique, un niveau "haut" (ou "bas") dans le flux binaire représente
+  la valeur maximale (ou minimale) de la plage de valeurs numériques. Par exemple, dans un système à 8 bits, un niveau
+  "haut" pourrait correspondre à FF en hexadécimal, tandis qu'un niveau "bas" pourrait correspondre à 00 en hexadécimal.
+
+Un flux binaire similaire existe dans un signal modulé en largeur d‘impulsions (PWM), mais il présente quelques
+désavantages par rapport au flux binaire d'un convertisseur delta-sigma, également appelé signal modulé en rapport
+d’impulsions (PPM). La transmission en série d'une valeur numérique, telle que la sortie en série d'un ADC conventionnel
+par pesée, est quant à elle appelée modulation par codage d'impulsions (PCM).
+
+----------
+
+# 
+
+Un convertisseur sigma-delta est un type de convertisseur
+analogique-numérique (CAN) qui utilise une boucle de contre-réaction pour
+échantillonner et quantifier un signal analogique en un signal numérique.
+Le principe de fonctionnement d'un convertisseur sigma-delta peut être
+expliqué en plusieurs étapes :
+
+1. Échantillonnage : Tout d'abord, le signal analogique est échantillonné
+   à une fréquence d'échantillonnage beaucoup plus élevée que la bande
+   passante du signal. Cette haute fréquence d'échantillonnage permet de
+   réduire considérablement les effets des distorsions et du bruit dans le
+   domaine fréquentiel.
+2. Quantification : Le signal échantillonné est ensuite quantifié en un
+   signal numérique à l'aide d'un comparateur qui compare le signal avec une
+   référence de tension fixe. La sortie du comparateur est une suite de bits
+   représentant la valeur du signal analogique à chaque instant.
+3. Contre-réaction : Le signal quantifié est ensuite utilisé pour régler
+   un oscillateur numérique qui produit un signal d'erreur. Ce signal
+   d'erreur est ajouté au signal d'entrée dans la boucle de contre-réaction,
+   ce qui permet de compenser les erreurs de quantification et de réduire le
+   bruit dans le signal quantifié.
+4. Suréchantillonnage : Le signal numérique produit par le convertisseur
+   sigma-delta est suréchantillonné à une fréquence beaucoup plus élevée que
+   la fréquence d'échantillonnage initiale, ce qui permet de réduire encore
+   davantage les effets du bruit dans le signal.
+5. Décimation : Enfin, le signal suréchantillonné est décimé à la
+   fréquence d'échantillonnage désirée en utilisant un filtre passe-bas
+   numérique qui élimine les composantes de hautes fréquences indésirables.
+
+Le résultat final est un signal numérique représentant fidèlement le
+signal analogique d'origine, avec une faible distorsion et un faible
+bruit. La boucle de contre-réaction permet au convertisseur sigma-delta
+d'atteindre des performances supérieures à celles des autres types de
+convertisseurs analogiques-numérique en termes de résolution et de
+précision.
+
+![img.png](medias/snr_by_osr.png)
+
+----------
@@ -0,0 +1,339 @@
+<header><h1>
+Filtres
+</h1></header>
+
+-----------
+
+
+# Diagramme de Bode
+
+## H0 - Gain statique
+$$H_{0}(s)=A$$
+![filters-h0.png](medias%2Ffilters-h0.png)
+
+## H1 - Coupe bas, amplis haut
+$$H_{1}(s)=\frac{s}{\omega_{0}}$$
+![filters-h1.png](medias%2Ffilters-h1.png)
+
+## H2 - Ampli haut, coupe bas
+$$H_{2}(s)=\frac{\omega_{0}}{s}$$
+![filters-h2.png](medias%2Ffilters-h2.png)
+
+## H3 - Ampli haut
+$$H_{3}(s)=\frac{\omega_{0}+1}{\omega_{0}} = 1+ \frac{s}{\omega_{0}}$$
+![filters-h3.png](medias%2Ffilters-h3.png)
+
+## H4 - Coupe haut
+$$H_{4}(s)=\frac{\omega_{0}}{\omega_{0}+s} = \frac{1}{1+\frac{s}{\omega_{0}}}$$
+![filters-h4.png](medias%2Ffilters-h4.png)
+
+## Résonance
+![filters-h5-h6.png](medias%2Ffilters-h5-h6.png)
+
+----------
+
+# Filtres numériques
+
+![filters-summary.png](medias%2Ffilters-summary.png)
+
+## Filtres numériques récursifs (IIR)
+
+Les filtres numériques récursifs (IIR) sont des filtres numériques qui utilisent des rétroactions.
+Ils sont basés sur des équations aux différences.
+Les filtres récursifs sont utilisés pour des applications où la phase du filtre n'est pas critique.
+Ils sont utilisés dans les télécommunications et la régulation.
+
+Les intérêts des filtres récursifs :
+- Leur faible coût en calcul
+- Faible retard (télécommunication et la régulation)
+
+Les inconvénients des filtres récursifs :
+- Ils possèdent une phase non-linéaire
+- Ils peuvent avoir une instabilité numérique
+
+***Fonction de transfert en $z$ :***
+$$F(z) = \frac{Y(z)}{U(z)} = \frac{b_{0}+b_{1}z^{-1}+\dots+b_{n}z^{-n}}{1+a_{1}z^{-1}+\dots+a_{n}z^{-n}}$$
+Numérisation par conversion DA et AD d'un filtre analogique :
+$$F(z) = (1-z^{-1})Z \left\{ L^{-1}\left[ \frac{F(s)}{s} \right] \right\} $$
+La fonction de transfert en *z* permet ensuite de tirer l'équation aux différences qui servira à réaliser le filtre sous forme d'un algorithme récursif
+$$y[k]= b_{n}u[k-n]+ \dots + b_{1}u[k-1]+b_{0}u[k]-a_{n}y[k-n]-\dots-a_{1}y[k-1]$$
+
+Si on souhaite connaître la réponse fréquentielle d'un filtre, il suffit de remplacer l'opérateur *z* par sa transformée de Fourier :
+$$a\cdot z^{n}=a\cdot \exp(n\cdot s\cdot T_{s})=a\cdot \exp(n\cdot \mathbf{j}\omega T_{s})$$
+$T_{s}$ : La période d'échantillonnage
+
+Comme l’exponentielle imaginaire est périodique, la réponse fréquentielle d’un filtre numérique est également périodique
+de fréquence, et sa représentation se fait dans le domaine de fréquences allant de $0$ à $fs/2$. <br>
+Le gain statique d’un filtre peut être calculé selon :
+$$\text{Gain statique d'un filtre} = \lim_{ s \to 0 } F(s) = \lim_{ z \to 1 } F(z)$$
+
+> [!NOTE|label:Passage pôle et zéro s ↔ z]
+> $$\begin{align}
+z&=\exp(s\cdot T_{s}) \\
+s&=\frac{1}{T_{s}\ln(z)}
+\end{align}$$
+
+![Filtre numérique passe bas ordre 2 - Réponse impulsionnel](medias/filtre_numerique_passe_bas_2-reponse.png ':size=40%')
+![Filtre numérique passe bas ordre 2 - Bode](medias/filtre_numerique_passe_bas_2-bode.png ':size=40%')
+
+### Transformation analogique-numérique
+La transformation bilinéaire : transformation de Tustin ou approximation de Padé de premier ordre
+$$s = \frac{2}{T_{s}} \frac{z-1}{z+1} \qquad \qquad z = \frac{1+\frac{1}{2}sT_{s}}{1-\frac{1}{2}sT_{s}}$$
+
+***Pour un filtre analogique de premier ordre :***
+$$F(s)=\frac{d_{0}+d_{1}s}{c_{0}+c_{1}s} \to F(z) = \frac{b_{1}z^{-1}+b_{0}}{a_{1}z^{-1}+1} $$
+$$
+a_{1} = \frac{c_{0}-\frac{2c_{1}}{T_{s}}}{c_{0}+\frac{2c_{1}}{T_{s}}}
+\qquad \qquad
+b_{0} = \frac{d_{0}+\frac{2d_{1}}{T_{s}}}{c_{0}+\frac{2c_{1}}{T_{s}}}
+\qquad \qquad
+b_{1} = \frac{d_{0}-\frac{2d_{1}}{T_{s}}}{c_{0}+\frac{2c_{1}}{T_{s}}}
+$$
+
+***Pour un filtre analogique de second ordre :***
+$$F(s)=\frac{Y(s)}{U(s)}=\frac{d_{0}+d_{1}s+d_{2}s^{2}}{c_{0}+c_{1}s+c_{2}s^{2}}
+\to F(z) = \frac{Y(z)}{U(z)}=\frac{b_{2}z^{-2}+b_{1}z^{-1}+b_{0}}{a_{2}z^{-2+}a_{1}z^{-1}+1} $$
+$$\begin{gather}
+C = c_{0}+\frac{2c_{1}}{T_{s}}+\frac{4c_{2}}{T_{s}^{2}} \\
+\\
+a_{1} = \frac{2\left( c_{0}-\frac{4c_{2}}{T_{s}^{2}} \right)}{C}
+\qquad \qquad
+a_{2} = \frac{ c_{0}-\frac{2c_{1}}{T_{s}}+\frac{4c_{2}}{T_{s}^{2}} }{C}
+\qquad \qquad
+b_{0} = \frac{d_{0}+\frac{2d_{1}}{T_{s}}+\frac{4d_{2}}{T_{s}^{2}}}{C} \\
+\\
+b_{1} = \frac{2\left( d_{0}-\frac{4d_{2}}{T_{s}^{2}} \right)}{C}
+\qquad \qquad
+b_{2} = \frac{d_{0}-\frac{2d_{1}}{T_{s}}+\frac{4d_{2}}{T_{s}^{2}}}{C}
+\end{gather}$$
+
+## Filtre numérique non-récursif (FIR)
+
+Les filtres numériques non-récursifs (FIR) sont des filtres numériques qui n'utilisent pas de rétroactions.
+Ils sont basés sur des équations aux différences.
+Les filtres non-récursifs sont utilisés pour des applications où la phase du filtre est critique.
+Ils sont utilisés dans le traitement du signal et la conception de filtres.
+
+Les intérêts des filtres non-récursifs :
+- Les fonctions de transfert ne possèdent que des coefficients $b_i$. ($\forall a_{i} = 0$)
+- Ils possèdent une phase linéaire exacte
+- Ils sont stables
+
+Les inconvénients des filtres non-récursifs :
+- Ils sont plus coûteux en calcul
+- Ils nécessitent plus de matériel
+
+Coefficients symétrique: pairs $b_{n-i} = b_{i}$, impairs $b_{n-i} = -b_{i}$, $b_{n/2}=0$ <br>
+
+**Symétrie paire:**
+$$H(\mathbf{j}\omega)
+= \sum^{n}_{i=o}b_{i}e^{-\frac{\mathbf{j}i\omega}{f_{s}}}
+= e^{\frac{-\mathbf{j}n\omega}{2f_{s}}} \sum^{n/2}_{i=0}b_{i}\cos\left[ \frac{\left( i-\frac{n}{2} \right)\omega}{f_{s}} \right]$$
+
+**Symétrie impaire:**
+$$H(\mathbf{j}\omega)=\mathbf{j}e^{\frac{-\mathbf{j}n\omega}{2f_{s}}}\sum^{n/2}_{i=0}b_{i}\sin\left( \frac{(i-\frac{n}{2})\omega}{f_{s}} \right)$$
+
+Les filtres FIR à coefficients symétriques ont une phase linéaire.
+$$
+\text{Symétrie paire : }\varphi(\omega)=-\frac{n\omega}{2f_{s}}
+\qquad \qquad
+\text{Symétrie impaire : } \varphi(\omega)= -\frac{n\omega}{2f_{s}}+\frac{\pi}{2}
+$$
+$$\text{Temps de propagation : }t_{gr}=-\frac{d\varphi}{d\omega}=\frac{n}{2f_{s}}=\frac{n}{2}T_{s}$$
+Il y a donc 4 types de filtres FIR à phase linéaire : n resp. symétrie paire/impaire
+
+
+***Fonction de transfert en $z$ :***
+$$F(z) = \frac{Y(z)}{U(z)} = b_{0}+b_{1}z^{-1}+\dots+b_{n}z^{-n}$$
+
+***Équation aux différences :***
+$$y[k]= b_{n}u[k-n]+ \dots + b_{1}u[k-1]+b_{0}u[k]$$
+
+***Réponse en fréquence :***
+$$z=\exp(\mathbf{j}\omega\cdot T_{s})$$
+
+### Filtres FIR à symétrie paire :
+$$b_{n-k} = b_{k}$$
+
+Exemple : FIR à symétrie paire d'ordre 6
+$$\begin{align}
+F(z) &= \frac{Y(z)}{U(z)} \\
+&= 1+2z^{-1}+3z^{-2}+4z^{-3}+3z^{-4}+2z^{-5}+z^{-6} \\
+&= \frac{z^{6}+2z^{5}+3z^{4}+4z^{3}+3z^{2}+2z^{1}+1}{z^{6}}
+\end{align}$$
+Les filtres FIR à symétrie paire sont toujours de type passe-bas ou coupe-bande. <br>
+Ils possèdent autant de pôles que l'order du filtre. Ces derniers sont à (0,0) sur le cercle unité. <br>
+Ils possèdent autant de zéros que l'ordre du filtre. Ces derniers sont sur le cercle unité. <br>
+
+### Filtres FIR à symétrie impaire :
+$$b_{n-k} = -b_{k}$$
+Exemple : FIR à symétrie impaire d'ordre 6
+$$\begin{align}
+F(z) &= \frac{Y(z)}{U(z)} \\
+&= -1-2z^{-1}-3z^{-2}+0z^{-3}+3z^{-4}+2z^{-5}+z^{-6} \\
+&= \frac{z^{6}+2z^{5}+3z^{4}+0z^{3}-3z^{2}-2z^{1}-1}{z^{8}}
+\end{align}$$
+Les filtres FIR  à symétrie paire sont toujours de type passe-haut ou passe-bande. <br>
+Ils possèdent autant de pôles que l'ordre du filtre. Ces derniers sont à (0,0) sur le cercle unité. <br>
+Ils possèdent autant de zéros que l'ordre du filtre. <br>
+
+## Filtres numériques FIR idéaux
+$$\omega_{c_{d}} = 2\pi \frac{f_{c_{a}}}{f_{s}}$$
+
+### Filtre passe-bas idéal
+$$H(\mathbf{j}\omega)=\begin{cases}
+1 &\text{ si } |\omega| \leq \omega_{c} \\
+0 &\text{ si } |\omega| > \omega_{c}
+\end{cases} $$
+La transformée de Fourier inverse donne la réponse impulsionnelle d’un filtre passe-bas idéal.
+
+$$h[n] = \begin{cases}
+\frac{\omega_{c}}{\pi} \frac{\sin((n-N_{s})\omega_{c})}{(n-N_{s})\omega_{c}} &\text{ si } 0\leq n \leq N \\
+\\
+\frac{\omega_{c}}{\pi} &\text{ si } n=N_{s} \\
+\\
+0 &\text{ sinon}
+\end{cases}$$
+
+On tronque à $N=ordre$ du filtre. $N_{s}=\frac{N}{2}$ <br>
+Ces coefficients ne sont rien d’autre que les coefficients de la fonction de transfert en *z* du filtre passe-bas idéal.
+
+### Filtre passe-haut idéal
+$$H(\mathbf{j}\omega)=\begin{cases}
+0 &\text{ si } |\omega| \leq \omega_{c} \\
+1 &\text{ si } |\omega| > \omega_{c}
+\end{cases}$$
+La transformée de Fourier inverse donne la réponse impulsionnelle d’un filtre passe-bas idéal.
+
+$$h[n] = \begin{cases}  
+-\frac{\omega_{c}}{\pi} \frac{\sin((n-N_{s})\omega_{c})}{(n-N_{s})\omega_{c}} &\text{ si } 0\leq n \leq N \\  
+\\  
+1-\frac{\omega_{c}}{\pi} &\text{ si } n=N_{s} \\  
+\\  
+0 &\text{ sinon}  
+\end{cases}$$
+
+On tronque à $N=ordre$ du filtre. $N_{s}=\frac{N}{2}$ <br>
+Ces coefficients ne sont rien d’autre que les coefficients de la fonction de transfert en *z* du filtre passe-haut idéal.
+
+### Filtre passe-bande idéal
+$$H(\mathbf{j}\omega)=\begin{cases}  
+1 &\text{ si } \omega_{c_{1}} \leq \omega \leq \omega_{c_{2}} \\  
+0 &\text{ si } \omega \leq \omega_{c_{1}} \quad et \quad \omega\geq \omega_{c_{2}}
+\end{cases}$$
+La transformée de Fourrier inverse donne la réponse impulsionnelle d’un filtre passe-bande idéal.
+
+$$h[n] = \begin{cases}    
+\frac{\omega_{c_{2}}}{\pi} \frac{\sin((n-N_{s})\omega_{c_{2}})}{(n-N_{s})\omega_{c_{2}}}-\frac{\omega_{c_{1}}}{\pi} \frac{\sin((n-N_{s})\omega_{c_{1}})}{(n-N_{s})\omega_{c_{1}}} &\text{ si } 0\leq n \leq N  \\    
+\\    
+\frac{\omega_{c_{2}}-\omega_{c_{1}}}{\pi} &\text{ si } n=N_{s}\\    
+\\    
+0 &\text{ sinon}    
+\end{cases}$$
+
+On tronque à $N=ordre$ du filtre. $N_{s}=\frac{N}{2}$ <br>
+Ces coefficients ne sont rien d’autre que les coefficients de la fonction de transfert en *z* du filtre passe-bande idéal.
+
+### Filtre coupe-bande idéal
+$$H(\mathbf{j}\omega)=\begin{cases}    
+0 &\text{ si } \omega_{c_{1}} \leq \omega \leq \omega_{c_{2}} \\    
+1 &\text{ si } \omega \leq \omega_{c_{1}} \quad et \quad \omega\geq \omega_{c_{2}}  
+\end{cases}$$
+La transformée de Fourrier inverse donne la réponse impulsionnelle d’un filtre coupe-bande idéal.
+
+$$h[n] = \begin{cases}      
+\frac{\omega_{c_{1}}}{\pi} \frac{\sin((n-N_{s})\omega_{c_{1}})}{(n-N_{s})\omega_{c_{1}}}
+-\frac{\omega_{c_{2}}}{\pi} \frac{\sin((n-N_{s})\omega_{c_{2}})}{(n-N_{s})\omega_{c_{2}}}
+&\text{ si } 0\leq n \leq N  \\      
+\\      
+1-\frac{\omega_{c_{2}}-\omega_{c_{1}}}{\pi} &\text{ si } n=N_{s}\\      
+\\      
+0 &\text{ sinon}      
+\end{cases}$$
+
+On tronque à $N=ordre$ du filtre. $N_{s}=\frac{N}{2}$ <br>
+Ces coefficients ne sont rien d’autre que les coefficients de la fonction de transfert en *z* du filtre coupe-bande idéal.
+
+## Synthèse par fenêtrage
+Le point de départ de la synthèse des filtres FIR est donné par la considération des réponses impulsionnelles des filtres idéaux.
+Comme celles-ci sont infiniment longues et donc non réalisables, on va se contenter d’une approximation de leurs réponses.
+
+### Méthode de fenêtrage
+- **Fenêtre rectangulaire :** $$W[n] = \begin{cases}
+  1 &\text{ si } 0\leq  n \leq N \\
+  0 &\text{ sinon}
+  \end{cases}$$
+- **Fenêtre triangulaire (Bartlett) :** $$W[n] = \begin{cases}
+  2 \frac{n}{N} &\text{ si } 0\leq n \leq \frac{N}{2} \\
+  2-2 \frac{n}{N} &\text{ si } \frac{N}{2}\leq n \leq N \\
+  0 &\text{ sinon}
+  \end{cases}$$
+- **Fenêtre sinusoïdale (Hann) :** $$W[n] = \begin{cases}
+  0,5\left( 1-\cos\left( \frac{2\pi n}{N} \right) \right) &\text{ si } 0\leq n\leq N \\
+  0 &\text{ sinon}
+  \end{cases}$$
+- **Fenêtre de Hamming :** $$W[n] = \begin{cases}
+  0,54-0,46\cos\left( \frac{2\pi n}{N} \right) &\text{ si } 0\leq n\leq N \\
+  0 &\text{ sinon}
+  \end{cases}$$
+- **Fenêtre de Blackman :** $$W[n] = \begin{cases}
+  0,42-0,5\cos\left( \frac{2\pi n}{N} \right)+0,08\cos\left( \frac{4\pi n}{N} \right) &\text{ si } 0\leq n\leq N \\
+  0 &\text{ sinon}
+  \end{cases}$$
+- **Fenêtre de Kaiser-Bessel :** $$W[n] = \begin{cases}  
+  \frac{I_{0}\left( \beta\sqrt{1-\left( \frac{1-n}{N_{s}} \right)^{2}} \right)}{I_{0}(\beta)} &\text{ si } 0\leq n\leq N \\  
+  0 &\text{ sinon}  
+  \end{cases}$$  
+  $I_{0}$ : Fonction de Bessel modifiée d’ordre 0 <br>  
+  $\beta$ : Paramètre de forme
+
+***Caractéristiques spectrales de quelques fenêtres***
+
+| Fenêtres            | Largeur du 1er lobe | Atténuation du 1er lobe [dB] | Décroissance des lobes suivants | Ondulation Rp [dB] | Atténuation max [dB] | Bande de transition<br>[rad/sec]<br>$\Delta\omega$ |
+|---------------------|---------------------|------------------------------|---------------------------------|--------------------|----------------------|----------------------------------------------------|
+| Rectangulaire       | $4\pi/N$            | $-13$                        | $20 dB/dec$                     | $0,74$             | $21$                 | $1,8\pi/N$                                         |
+| Triangulaire        | $8\pi/N$            | $-27$                        | $40 dB/dec$                     | $0$                | $25$                 | $6,1\pi/N$                                         |
+| Cosinus             | $8\pi/N$            | $-32$                        | $60 dB/dec$                     | $0,055$            | $44$                 | $6,2\pi/N$                                         |
+| Hamming             | $8\pi/N$            | $-43$                        | $20 dB/dec$                     | $0,014$            | $53$                 | $6,6\pi/N$                                         |
+| Blackman            | $12\pi/N$           | $-58$                        | $60 dB/dec$                     | $0,0017$           | $74$                 | $11\pi/N$                                          |
+| Kaiser $\beta=4,54$ | $7,2\pi/N$          | $-30$                        | $20 dB/dec$                     | $0,025$            | $50$                 | $5,8\pi/N$                                         |
+| Kaiser $\beta=5,66$ | $8,4\pi/N$          | $-42$                        | $20 dB/dec$                     | $0,009$            | $60$                 | $7,2\pi/N$                                         |
+
+
+
+### Comment calculer son filtre
+
+![specification_de_filtre.svg](medias%2Fspecification_de_filtre.svg ':size=50%')
+
+$H(\mathbf{j}\omega)$ : Gain <br>
+$\delta_{1}$ : L'erreur de gain tolérable <br>
+$\delta_{2}$ : L'erreur d'atténuation tolérable <br>
+$\omega_{p}$ : Fréquence de pulsation de passage <br>
+$\omega_{a}$ : Fréquence de pulsation d'arrêt <br>
+
+1. En fonction du gabarit, déterminer le type de filtre désiré (`passe-bas`, `passe-haut`, `passe-bande`, `coupe-bande`)
+2. Calculer $f_{c} \to \omega_{c}$ et $\Delta f \to \Delta\omega$
+   $$\begin{gather}
+   f_{c} = \frac{f_{a}+f_{p}}{2} \qquad & \qquad \Delta f = f_{a}-f_{p} \\
+   \omega_{c} = 2\pi \frac{f_{c}}{f_{s}} \quad & \quad \Delta\omega = \frac{2\pi\Delta f}{f_{s}}
+   \end{gather}$$
+3. Choisir une fenêtre $W[n]$ satisfaisante du point de vue de l’atténuation et du reste du cahier des charges.(voir tableau ci-dessus)
+4. Calculer l'ordre du filtre à l'aide de la bande de transition du filtre choisit. Arrondir au nombre pair supérieur.
+5. Calculer la réponse impulsionnelle $h_{f}[n]$ du filtre avec $h[n]*W[n]$
+6. Calculer les coefficients $b_{n}$ du filtre avec $h_{f}[n]$
+
+<details>
+<summary>Démarche selon les slides</summary>
+
+1. Connaissant le gabarit du filtre désiré, choisir le filtre idéal correspondant
+2. Calculer les pulsations caractéristiques se situant au centre des bandes de transitions
+3. Rechercher la réponse impulsionnelle $h[n]$ du filtre idéal, si celle-ci n’est pas connue, on peut la calculer par transformation de Fourier inverse
+4. Choisir une fenêtre $W[n]$ satisfaisante du point de vue de l’atténuation
+5. Connaissant la largeur de la bande de transition , calculer l’ordre du filtre $N$
+6. Calculer les coefficients du filtre en multipliant la réponse impulsionnelle par la fenêtre choisie
+</details>
+
+
+
+
+----------
@@ -0,0 +1,9 @@
+<header>
+  <h1>Électronique</h1>
+</header>
+
+# Convertisseurs
+- [AD/DA](/infotro/Eln/ADDA)
+- [Signaux et échantillonnage](/infotro/Eln/SignauxEtEchantillonnage)
+- [Filtres](/infotro/Eln/Filtres)
+- [RF](/infotro/Eln/RF)
@@ -0,0 +1,145 @@
+<header><h1>
+Radio Fréquence
+</h1></header>
+
+----------
+
+# Skin effect
+Le courant électrique circule principalement à la surface des conducteurs.
+
+Pour un fil de cuivre rond, la résistance en continue est donnée par la formule suivante:
+$$R_{DC} = \rho\frac{l}{\pi r²}$$
+avec:
+- $R_{DC}$: résistance en continue
+- $\rho$: résistivité du cuivre
+- $l$: longueur du fil
+- $r$: rayon du fil
+
+La résistance en courant alternatif est donnée par la formule suivante:
+$$R_{AC} = R_{DC} \frac{r}{2\delta}$$
+avec:
+- $R_{AC}$: résistance en courant alternatif
+- $R_{DC}$: résistance en continue
+- $r$: rayon du fil
+- $\delta$: profondeur de pénétration du courant
+
+La profondeur de pénétration du courant est donnée par la formule suivante:
+$$\delta = \sqrt{\frac{\rho}{\pi f \mu_0}}$$
+avec:
+- $\delta$: profondeur de pénétration du courant
+- $\rho$: résistivité du cuivre
+- $f$: fréquence
+- $\mu_0$: perméabilité magnétique du vide $= 4\pi 10^{-7} H/m$
+
+On peut en déduire la résistance en courant alternatif:
+$$R_{AC} = \frac{l\sqrt{\rho\pi\mu_0}}{2\pi r} \sqrt{f} \qquad \qquad R_{AC(f_{2})} = R_{AC(f_{1})} \cdot \sqrt{ \frac{f_{2}}{f_{1}} }$$
+
+Pour calculer l'inductance et la capacité d'un fil, on peut utiliser les formules suivantes :
+$$\begin{align}
+L&=\frac{\mu_{0}l}{\pi}acosh\left( \frac{d}{2r} \right) \\
+C&=\frac{\pi\epsilon_{0}l}{acosh\left( \frac{d}{2r} \right)}
+\end{align}$$
+avec :
+- $\mu_{0}$: perméabilité magnétique du vide $=4\pi\cdot 10^{-7}\left[ \frac{H}{m} \right]$
+- $\epsilon_{0}$: permittivité du vide $=8.854\cdot 10^{-12}\left[ \frac{F}{m} \right]$
+
+# Model à haute fréquence
+
+## Inductance
+![rf-inductor.png](medias%2Frf-inductor.png ':size=50%')
+
+<u>Facteur de qualité :</u>
+$$Q(f) = \frac{X_{L}(f)}{R(f)} \qquad \qquad R_{AC}(f)= \frac{l\sqrt{ \rho \pi \mu_{0} }}{2\pi r}\sqrt{ f}$$
+
+<u>Réactance & Impédance:</u>
+$$X_{L}=\omega L=2\pi fL \qquad \qquad Z_{L}=jX_{L}=j\omega L$$
+
+<u>Résonance :</u> $\omega_{r} ≃\omega_{0}=\frac{1}{\sqrt{ LC }}$ <br>
+SRF: Self Resonant Frequency = $\frac{\omega_{r}}{2\pi}$
+
+$$Z_{L,tot} = (j\omega L+R) \mid \mid \frac{1}{j\omega C} =\frac{sL+R}{1+sRC+s^{2}LC}$$
+
+![rf-inductor.png](medias/rf-inductor-graph.png)
+
+# Capacité
+![rf-capacitor.png](medias%2Frf-capacitor.png ':size=50%')
+
+<u>Facteur de qualité :</u>
+$$Q(f) = \frac{X_{C}(f)}{R} \qquad \qquad \omega_{r} ≃\omega_{0}=\frac{1}{\sqrt{ LC }}$$
+
+<u>Réactance & Impédance:</u>
+$$X_{C}=\frac{1}{\omega C} \qquad \qquad Z_{C}=\frac{1}{j\omega C}$$
+
+![rf-capacitor-graph.png](medias/rf-capacitor-graph.png)
+
+# Résistance
+![rf-resistor.png](medias%2Frf-resistor.png ':size=35%')
+
+
+# Transmission line
+
+$$ k = \frac{2\pi}{\lambda} \qquad \qquad \lambda = \frac{c_{mat}}{f} $$
+
+$\Gamma$ (Gamma) : coefficient de réflexion
+
+# Smith Chart
+
+
+## Ajouter une ligne de réflexion
+
+
+1. Placer $Z1$
+    1. Normaliser ($\hat{Z_{1}}=\frac{Z_{1}}{Z_{0}}$)
+    2. Placer le point au croisement de l'axe réel et imaginaire (Impédance = bleu)
+2. Chercher $\Gamma$ (indice de reflexion)
+    1. Tracer l'angle ("Angle of reflexion coefficient in degrees")
+    2. Tracer le module (cercle au compas + rapport sur les échelles du bas)
+3. Ajouter la ligne selon le sens
+    - $\circlearrowright$ : toward generator
+    - $\circlearrowleft$ : toward load
+4. Lire les nouvelles valeures
+    1. Tracer le nouvel angle $\to \angle(\Gamma_{2})$
+    2. Tracer et lire $\hat{Z_{2}}$ puis $Z_{2}$
+
+![add_line_on_smith_chart.png](medias/add_line_on_smith_chart.png)
+
+# Impedance Matching
+$Z_{LD} \to Z_S^*$, sans résistance
+- Capacité + inductance
+- ligne de transmission + capacité / inductance + ligne de transmission
+- ligne de transmission + stub + ligne de transmission
+- 
+![impedance_matching.png](medias%2Fimpedance_matching.png)
+
+## Stub
+Pour trouver la longueur du stub : 
+1. Pour un short stub, placer une inductance parallèle et pour un open stub un condensateur parallèle
+2. Trouver la valeur normalisée de cette admittance.
+3. Pour un short stub, placer le delta dans les négatifs (parti du dessus) et pour un open stub dans les positifs (partie du dessous).
+4. Regarder la longueur d'onde. Partir du côté open circuit pour un open stub et du côté short circuit pour un short stub. 
+
+# Filtres
+
+Filter components <br>
+![Filters prototype](medias/rf-filters_prototype.png) <br>
+![Filters components](medias/rf-filter_components.png)
+
+Normalized value for Butterworth order 1 to 10 <br>
+![Normalized value for Butterworth order 1 to 10](medias/rf-normalized_value-butterworth_1_10.png)
+
+Normalized value for Chebyshev 0.5dB Ripple <br>
+![Normalize value for Chebyshev 0.5 Ripple](medias/rf-normalized_value_chebyshev_ripple_0_5.png)
+
+Normalized value for Chebyshev 3dB Ripple <br>
+![Normalize value for Chebyshev 3 Ripple](medias/rf-normalized_value_chebyshev_ripple_3.png)
+
+## Filtres passe-bas en microstrip
+$l$ : longueur physique en mm <br>
+$\theta$ : longueur électrique / degré <br>
+$$ l_l = g_k * \frac{\lambda_{gl} * Z_0}{2\pi *Z_{0l}} $$
+$$ l_c = g_k * \frac{\lambda_{gc} * Z_{0c}}{2\pi *Z_0} $$
+$$ \theta_l = g_k * \frac{360 * Z_0}{2\pi *Z_{0l}} $$
+$$ \theta_c = g_k * \frac{360* Z_{0c}}{2\pi *Z_0} $$
+
+![rf-kuroda_identities.png](medias%2Frf-kuroda_identities.png)
+
@@ -0,0 +1,256 @@
+<header><h1>
+Signaux et échantillonnage
+</h1></header>
+
+-----------
+
+# Fourier
+Pour comprendre les signaux, il est important de comprendre la transformée de Fourier.
+La transformée de Fourier est une technique de traitement du signal utilisée pour analyser et manipuler les signaux continus.
+Elle permet d'exprimer un signal dans le temps en domaine fréquentiel.
+
+## Transformée de Fourier
+La transformée de Fourier est une technique de traitement du signal utilisée pour analyser et manipuler les signaux continus.
+Elle permet d'exprimer un signal dans le temps en domaine fréquentiel.
+
+La transformée de Fourier est définie par la formule suivante :
+
+Soit $f(x)$ une fonction non périodique définie sur $\mathbb{R}$.
+$$\begin{align}
+\text{Transformée de Fourier de }f(x) &: \qquad \widehat{f}(\omega) = \int^{\infty}_{-\infty}f(x)e^{-\mathbf{i}\omega x}dx \qquad (\omega\in \mathbb{R})\\
+\text{Intégrale de Fourier de } f(x) &: \qquad \frac{1}{2\pi}\int_{-\infty}^{\infty}  \widehat{f}(\omega) e^{\mathbf{i}x\omega}\, d\omega \qquad(x \in\mathbb{R}).
+\end{align}$$
+**Théorème** : Si $\int_{-\infty}^{\infty} |f(x) \, dx < \infty$ et si $f$ est une fonction de variation bornée sur tout $\mathbb{R}$, alors
+$$
+\frac{1}{2\pi}\int_{-\infty}^{\infty} \widehat{f}(\omega)e^{\mathbf{i}x\omega} \, d\omega = \begin{cases}
+f(x) &\text{si }f \text{ est continue au point }x \\
+\text{milieu du saut de } f(x) &\text{si }f \text{ a un saut en }x
+\end{cases}
+$$
+
+
+## Transformée de Fourier discrète
+
+La transformée de Fourier discrète (DFT - Discret Fourier Transform) est une transformation discrète utilisée pour analyser le spectre fréquentiel
+d'un signal discret.
+Elle est l'équivalent discret de la transformée de Fourier, qui est utilisée pour analyser les signaux continus.
+
+On pose: $\Omega := \omega \cdot  T_{s}$
+La transformation de Fourier de $x[k]$ est donnée par la formule suivante :
+$$\mathcal{F}\{x[k]\} = X(\Omega) \quad := \quad\sum^{+\infty}_{k=-\infty}x[k]\cdot e^{-jk\Omega}= \mathcal{F}\{x_{s}(t)\}$$
+
+
+$$\mathcal{F\{x[k]\} = \mathcal{Z}\{x[k]\}}|_{z=e^{j\Omega}}$$
+![fourier_cerlce_unitaire.svg](medias/fourier_cerlce_unitaire.svg)
+$$x[k]=\frac{1}{2\pi} \int^{+\pi}_{-\pi}X(\Omega)e^{jk\Omega} d\Omega$$
+
+
+
+
+La DFT est utilisée dans de nombreux domaines, notamment en traitement du signal, en télécommunications, en traitement d'images
+et en compression de données.
+
+> [!NOTE|label:FFT]
+> La transformée de Fourier rapide (FFT) est un algorithme efficace pour calculer la DFT. Elle est largement utilisée dans
+> de nombreuses applications, notamment en traitement du signal et en compression de données.
+
+----------
+
+# Réponse impulsionnelle
+La réponse impulsionnelle $h[k]$ d'un système discret LIT est sa réponse à l'impulsion unitaire à l'origine $δ[k]$.
+
+![Réponse impulsionelle - Continu/discret](medias/reponse_impulsionelle-continue_discret.png)
+
+Avant l'impulsion, la réponse impulsionnelle $h$ est nulle.
+Après l'impulsion, la réponse impulsionnelle $h$ est la réponse du système à l'impulsion unitaire à l'origine.
+
+*Causal* = le futur n'a pas d'influence sur le passé.
+
+$$ h[k] = \mathcal{H} \{ δ[k] \} $$
+
+$\mathcal{H}$ : Heaviside (peut aussi se noter $\varepsilon$ pour un heaviside en discret) <br>
+$y[k]$ : réponse du système <br>
+$x[k]$ : signal d'entrée <br>
+$h[k]$ : réponse impulsionnelle <br>
+
+$$
+\forall x \in \mathbb{R}, \mathcal{H}(x)=\begin{cases}
+0 &\text{ si } x<0 \\
+1 &\text{ si } x \geq  0
+\end{cases}
+$$
+
+Pour un système causal
+
+$$\begin{align}
+y[k] &= \sum^{k}_{n=-\infty}(x[n]\cdot h[k-n]) \\
+\\
+y[k] &= \sum^{+\infty}_{n=0}(x[k-n]\cdot h[n])
+\end{align}$$
+
+La réponse impulsionnelle caractérise <u>ENTIÈREMENT</u> un système LIT.
+
+## Système LIT stable
+Un système LIT (Linéaire et Invariant dans le Temps) est stable si et seulement si sa réponse impulsionnelle est sommable.
+
+> [!NOTE]
+> $\sum^{+\infty}_{k=-\infty}|h[k]|<+\infty$
+
+## Système LIT causal à réponse impulsionnelle finie
+Un système LIT (Linéaire et Invariant dans le Temps) est causal à réponse impulsionnelle finie si et seulement si sa
+réponse impulsionnelle est nulle pour $k<0$ et sommable pour $k\geq0$.
+
+> [!NOTE]
+> fini: $h(k) |_{k<\infty} = 0$
+
+$$\begin{align}
+y[k] &= \sum^{N}_{n=0}x[k-n]\cdot h[n] \\
+&= b_{0}x[k]+b_{1}x[k-1]+\dots+b_{N}x[k-N]
+\end{align}$$
+$N$ : Limite de notre réponse impulsionnelle.
+
+![schema_bloc_fir.png](medias/schema_bloc_fir.svg ':size=75%')
+
+En faisant la somme, la réponse impulsionnelle se transforme en facteurs $(b_0, b_1, b_2, ..., b_n)$.
+On peut retrouver la réponse impulsionnelle à partir de ces facteurs.
+La somme décomposée est appelée *équation aux différences*.
+
+Pour obtenir la réponse indicielle depuis la réponse impulsionnelle, on utilise la somme cumulée de la réponse impulsionnelle.
+On peut aussi mathématiquement obtenir la réponse impulsionnelle en multipliant la réponse indicielle par Heaviside ($F(z)\cdot \varepsilon(z)$).
+
+----------
+
+# Transformée en Z
+La transformée en Z, également connue sous le nom de transformée en fréquence Z, est une technique de traitement du
+signal utilisée pour analyser et manipuler les signaux numériques.
+Elle permet de décomposer un signal en fonction de la fréquence et de fournir des informations sur la nature du signal.
+
+La principale différence entre la transformée en Z et la transformation de Laplace (ou S) est que la transformée en Z
+est adaptée aux signaux discrets, c'est-à-dire aux valeurs qui ne varient pas continuellement dans le temps.
+En revanche, la transformation de Laplace est utilisée pour les signaux continus et permet d'étudier leur réponse en
+fréquence et en phase.
+
+En résumé, la transformée en Z est conçue pour les signaux discrets et les systèmes numériques, tandis que la
+transformation de Laplace s'applique aux signaux continus et aux systèmes analogiques.
+
+[Tableau des transformées en Z](/infotro/Eln/Ztransform)
+
+> [!NOTE|label:S]
+> Domaine fréquentiel continue avec Laplace.
+
+> [!NOTE|label:Z]
+> Domaine fréquentiel discret. 
+
+Avec $z:=e^{sT_{s}}$ on a
+$$\mathcal{Z}\{x[k]\} = X(z) \quad := \quad \sum^{+\infty}_{k=-\infty}(x[k]\cdot z^{-k})=\mathcal{L\{x_{s}(t)\}}$$
+qui est la transformée en Z de $x[k]$.<br>
+
+$T_{s}$ : Période d'échantillonnage. <br>
+$x[k]$ : Fonction du [Tableau des transformées en Z](/infotro/Eln/Ztransform) ou valeur du graphe des réponses impulsionnelle<br>
+
+On a aussi la propriété suivante :
+$$\mathcal{Z}\{x[k-n]\}=z^{-n}\cdot X(z)$$
+
+## Marche à suivre - Transformée en *Z*
+1. Avoir une équation aux différences.
+2. Pour chaque terme de l'équation, appliquer la transformée en Z.
+Avec : 
+    - $f[k] => F(z)$
+    - $f[k-n] => z^{-n}\cdot F(z)$
+3. Isoler $Y(z)$.
+4. $H(z) = \frac{Y(z)}{X(z)}$ est la fonction de transfert.
+
+> [!NOTE|label:Example]
+> L'équation aux différences est donnée par $$\tag{1} y[k] = \frac{1}{2}(x[k]+y[k-1])$$
+> devient
+> $$\begin{align}
+\tag{2} Y(z) &= \frac{1}{2}(X(z)+z^{-1}\cdot Y(z)) \\
+Y(z)-\frac{1}{2}\cdot  z^{-1}\cdot Y(z) &= \frac{1}{2}\cdot X(z) \\
+\tag{3} Y(z) &= \frac{1}{2-z^{-1}}X(z) \\
+\tag{4} H(z) &= \frac{Y(z)}{X(z)} = \frac{1}{2-z^{-1}}
+\end{align}$$
+
+> [!TIP]
+> $h[k]\stackrel{\text{Z tabel}}{\longleftrightarrow}H(z)$
+> 
+> Exemple: $h[k] = 2^{-(k+1)}$ devient
+> $$\begin{align}
+2^{-(k+1)} &= 2^{-k}\cdot 2^{-1} = \frac{1}{2}\cdot 2^{-k} = \frac{1}{2}\cdot (2^{-1})^k  \\
+&\to \frac{1}{2}\cdot \frac{z}{z-\frac{1}{2}} =\frac{z}{2z-1} = \frac{1}{2-\frac{1}{z}} = \frac{1}{2-z^{-1}}
+\end{align}$$
+
+> [!WARNING]
+> Les propriétés de la transformée en Z se trouvent dans le [Tableau des transformées en Z](/infotro/Eln/Ztransform)
+
+
+L'équation aux différences
+$$y[k] + a_{1}y[k-1]+\dots+a_{M}y[k-M] \quad = \quad b_{0}x[k]+b_{1}x[k-1]+\dots+b_{N}x[k-N]$$
+devient par la transformation en z
+$$H(z) = \frac{Y(z)}{X(z)} = \frac{b_{0}+b_{1}z^{-1}+\dots+b_{N}z^{-1}}{1+a_{1}z^{-1}+\dots+a_{M}z^{-M}} \quad a_{m}, b_{n} \space \text{réels}$$
+
+Les zéros et les pôles de la fonction de transfert donnent donc :
+$$H(z) = K \frac{(z-o_{1})\cdot (z-o_{2})\cdot \space \dots \space \cdot (z-o_{N})}{(z-p_{1})\cdot (z-p_{2})\cdot \space \dots \space \cdot (z-p_{M}) }\quad o_{n}, p_{n} \space \text{complexes}$$
+
+
+## Marche à suivre - Transformée en *Z* inverse
+1. Avoir une fonction de transfert : $H(z) = \frac{Y(z)}{X(z)}$.
+2. Effectuer le numérateur et le dénominateur.
+3. Mettre les $z$ en puissance négative : $\cdot \frac{z^{-1}}{z^{-1}}$
+4. Effectuer le produit en croix.
+5. Pour chaque terme, appliquer la transformée en Z inverse.
+   - $F(z) \implies f[k]$
+   - $F(z)\cdot z^{-n} \implies f[k-n]$
+6. Isoler $y[k]$. Et on a notre équation aux différences.
+
+----------
+
+# Approximation bilinéaire
+L'approximation bilinéaire est une technique utilisée pour convertir une fonction de transfert continue en une fonction
+de transfert discrète.
+Elle est utilisée dans le domaine du traitement du signal pour convertir un système continu en un système discret.
+
+Développement en série de la fonction $ln$ autour de 1 ($x=0$) :
+$$\ln\left( \frac{1+x}{1-x} \right) = 2\left(x + \frac{x^{3}}{3} + \frac{x^{5}}{5} + \dots \right)$$
+donne l'approximation
+$\ln\left( \frac{1+x}{1-x} \right) \approx 2x$
+
+## Approximation bilinéaire - Pôles et zéros
+$$p_{di} = e^{p_{ai} \cdot T} \qquad z_{di} = e^{z_{ai} \cdot T} $$
+- $k_a$, $p_{ai}$ and $z_{ai}$ sont le gain, les pôles et les zéros de notre filtre analogique
+  Attention, $k_a$ n'est pas le gain DC
+- $k_d$, $p_{di}$ and $z_{di}$ sont le gain, des pôles et les zéros de notre filtre numérique.
+Pour un filtre passe bas sans zéros, le gain numérique est:
+$$k_{d} = k_{a}\cdot \prod_{i} \frac{1-e^{P_{ai}\cdot T}}{P_{ai}}$$
+
+On peut appliquer la transformation bilinéaire aux pôles et zéros du filtre analogique pour obtenir les pôles et zéros du filtre numérique.
+$$
+p_{di} = \frac{1+p_{ai}\cdot \frac{T}{2}}{1-p_{ai}\cdot \frac{T}{2}}
+\qquad \qquad
+z_{di} = \frac{1+z_{ai}\cdot \frac{T}{2}}{1-z_{ai}\cdot \frac{T}{2}}
+$$
+Pour un filtre passe bas, le gain "bilinear" est :
+$$k_{d} = k_{a}\cdot \frac{1}{\prod_{i}\left( \frac{2}{T}-p_{ai} \right)}$$
+
+Pour passer de $\omega_o'$ à $\omega_o$ et vice-versa, on utilise la relation suivante :
+$$\begin{align}
+\omega_{0} &= 2f_{s}\tan\left( \frac{\omega_{0}'}{2f_{s}} \right) \\
+\\
+\omega_{0}'&=2f_{S}\cdot \arctan\left( \frac{\omega_{0}}{2fs} \right)
+\end{align}$$
+
+
+## Autres méthodes d'approximation d'un système continu LIT par un syst. discret
+On détermine la réponse impulsionnelle du système discret LIT à partir de celle du système continu en appliquant la relation :
+$$h[k] = T_{s}\cdot(kT_{s})$$
+$h(kT_s)$ : Réponse impulsionnelle en continu <br>
+
+On peut du coup approximer l'équation différentielle par une équation aux différences.
+Par exemple pour la dérivée première de $x(t)$, on a
+$$x'[k]= \frac{x[k]-x[k-1]}{T_{s}}$$
+
+
+
+
+
+
+----------
@@ -0,0 +1,30 @@
+<header><h1>
+Tableau des transformées en Z
+</h1></header>
+
+-----------
+
+$$f[k] =\varepsilon[x]=\begin{cases}
+1^{x} &\text{ si } x\geq 0 \\
+0 &\text{ si } x<0
+\end{cases} \qquad \forall x=k,k-n
+$$
+$\varepsilon$ : fonction de Heaviside en discret
+
+----------
+
+| Nr.  | $f[k]$            | $F(z)$                                 | $f(t)$      | $F(s)$             |
+|------|-------------------|----------------------------------------|-------------|--------------------|
+| 1    | $\delta_{k}, 0^k$ | 1                                      | $\delta(t)$ | 1                  |
+| 2    | $1^k$             | $\frac{z}{z-1}$                        | $1$         | $\frac{1}{s}$      |
+| 3    | $kT$              | $\frac{Tz}{z-1}^{2}$                   | $t$         | $\frac{1}{s^{2}}$  |
+| 4    | $(kT)^{2}$        | $\frac{T^{2}z(z+1)}{(z-1)^{3}}$        | $t^{2}$     | $\frac{2!}{s^{3}}$ |
+| 5    | $(kT)^{3}$        | $\frac{T^{3}z(z^{2}+4z+1)}{(z-1)^{4}}$ | $t^{3}$     | $\frac{3!}{s^{4}}$ |
+| 6    | $e^{akT}$         | $\frac{z}{z-e^{aT}}$                   | $e^{at}$    | $\frac{1}{s-a}$    |
+
+
+![ztabelle01.png](ztabelle01.png)
+![ztabelle02.png](ztabelle02.png)
+![ztabelle03.png](ztabelle03.png)
+
+Dans la théorie Eln la partie transformée en Z commence à la slide 23 de "Eln2_LTI_0910_f.pdf".
@@ -0,0 +1,133 @@
+<header><h1>
+Lab 06 - Filters
+</h1></header>
+
+----------
+
+In this laboratory on digital filters, the main objective is to understand how digital filters work.
+We will use MATLAB to simulate and implement these filters on a digital signal processor (DSP).
+
+# Analog filter design
+
+We must design Butterworth low-pass filter that cuts at 1kHz as shown with the following equation :
+
+$$F(s) = \frac{1}{\frac{s^{2}}{\omega_c^{2}} + s\cdot\frac{1.414}{\omega_c} + 1} $$
+
+In according to the sample theory, we have to choose at least 2 times the maximum frequency of the signal.
+In this case, the maximum frequency is 1 kHz, so we have to choose a sample frequency at least at 2 kHz.
+We take 10 time $f_c$ for the sample frequency, so we choose 20 kHz.
+
+
+## Transfer function
+For calculate the transfer function, we have to calculate the poles and zeros of the filter.
+
+$$p_{di} = e^{p_{ai} \cdot T} \qquad z_{di} = e^{z_{ai} \cdot T} $$
+
+- $k_a$, $p_{ai}$ and $z_{ai}$ are the gain, poles and zeros of the analog filter that the representation *zpk*.
+Be careful, $k_a$ is not the DC gain.
+- $k_d$, $p_{di}$ and $z_{di}$ are the gain, poles and zeros of the digital filter.
+
+For a low pass filter without zeros, the "digital" gain is :
+$$k_{d} = k_{a}\cdot \prod_{i} \frac{1-e^{P_{ai}\cdot T}}{P_{ai}}$$
+
+We can apply the bilinear transformation to the poles and zeros of the analog filter to obtain the poles and zeros of the digital filter.
+$$
+p_{di} = \frac{1+p_{ai}\cdot \frac{T}{2}}{1-p_{ai}\cdot \frac{T}{2}}
+\qquad \qquad
+z_{di} = \frac{1+z_{ai}\cdot \frac{T}{2}}{1-z_{ai}\cdot \frac{T}{2}}
+$$
+And for the low pass filter, the "bilinear" gain is :
+$$k_{d} = k_{a}\cdot \frac{1}{\prod_{i}\left( \frac{2}{T}-p_{ai} \right)}$$
+
+On the following diagram, we can see the bode diagram of the analog, digital filter and the filter with the bilinear transformation.
+
+![bode_design_filter.svg](bode_design_filter.svg)
+
+# IIR filter design
+
+We must design an IIR filter with the following specifications :
+
+- $H_0 = 0 [dB]$
+- $H_1 = -3 [dB]$
+- $H_2 = -40 [dB]$
+- $f_{pass} = 7 [kHz]$
+- $f_{stop} = 9 [kHz]$
+- $f_s = 48 [kHz]$
+
+We first calculate the analog filter for search the order with the function *ellipord*.
+Then, we calculate the poles and zeros with the function *ellip*.
+We apply the bilinear transformation to the poles and zeros to obtain the poles and zeros of the digital filter.
+Finally, we can plot the bode diagram of the digital filter and the filter with the bilinear transformation.
+
+![iir_filter.svg](iir_filter.svg)
+
+
+# DSP implementation
+
+We will implement the previously designed digital filter using a C program that will run in real-time on a fixed-point DSP.
+We will employ a cascade structure, consisting of 2 second-order stages.
+We will use the TMS320C6211 DSK from Texas Instruments.
+
+The following equation represent an universal transfer function of a second-order filter :
+$$H(z) = \frac{b_{0}+b_{1}\cdot z^{-1}+b_{2}\cdot z^{-2}}{a_{0}+a_{1}\cdot z^{-1}+a_{2}\cdot z^{-2}}$$
+
+The following figure depicts the block diagram of this implementation in the case where a0 = 1
+This structure is commonly referred to as "Direct Form I." It requires the storage of past values of both the input and output.
+
+![direct_form_1.png](direct_form_1.svg)
+
+So we have the difference equation :
+$$y(n) = b_{0}\cdot x(n)+b_{1}\cdot x(n-1)+b_{2}\cdot x(n-2)-a_{1}\cdot y(n-1)-a_{2}\cdot y(n-2)$$
+
+It exists a second structure called "Direct Form II" which is more efficient in terms of computation and memory usage.
+
+![direct_form_2.png](direct_form_2.svg)
+
+The difference equation is :
+$$\begin{align}
+y(n) &= tmp\cdot b_{0}+w[0]\cdot b_{1}+w[1]\cdot b_{2} \\
+\\
+tmp &= x(n)-a_{1}\cdot w[0]-a_{2}\cdot w[1] \\
+\\
+w[0] &= tmp_{prev} \\
+\\
+w[1] &= w[0]_{prev}
+\end{align}$$
+
+The variables can be translated into code by shifting the coefficients 14 positions to the left to enhance precision
+after the decimal point, as the DSP only works with integers.
+
+Structures for the coefficients and the state variables are defined as follows :
+```c
+typedef struct {
+    short b0;
+    short b1;
+    short b2;
+    short a0;
+    short a1;
+    short a2;
+} coeff_sec_order;
+
+short w3[2];
+short w4[2];
+
+coeff_sec_order stage1 = {  469,    349,   469, 16384, -23699, 10692};
+coeff_sec_order stage2 = {16384, -11187, 16384, 16384, -19657, 14890};
+```
+
+The following code is the implementation of the Direct Form II function :
+```c
+void iir_sec_order_dir_s(coeff_sec_order Coeff, short*w, short* Input, short* Output) {
+    register short tmp;
+    
+    tmp = (long)* Input - (( (Long)Coeff.a1 * (long)w[0]) >> SHIFT) - (( (long)Coeff.a2 * (long)w[1]) >> SHIFT);
+    *Output = (( (long)Coeff.b0 * (long)tmp >> SHIFT) + (( (long)Coeff.b1 * (long)w[0]) >> SHIFT) + (( (long)Coeff.b2 * (long)w[1]) >> SHIFT);
+    
+    w[1] = w[0];
+    w[0] = tmp;
+}
+```
+
+For a better effect of the filter, the function can be called several times.
+
+
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@@ -0,0 +1,491 @@
+<header><h1>
+Programmation concurrente
+</h1></header>
+
+Un programme concurrent est un programme non séquentiel.
+Soit l'expression arithmétique suivante : $(a+b) * (c+d)$.
+
+***Programmation séquentiel*** 
+1. $x = (a+b)$
+2. $y = (c+d)$
+3. $x*y$
+
+***Programmation concurrente***
+1. $x = (a+b) \qquad y = (c+d)$
+2. $x*y$
+
+La programmation concurrente sur 1 CPU permet d'exploiter pleinement les périphériques parallèlement au processeur.
+Cela permet d'éviter de bloquer toutes les applications lorsqu'une seule est en attente d'une réponse.
+
+La programmation concurrente sur plusieurs CPU permet en plus un gain de temps.
+
+## Switching contexte
+Lors d'un switching context, pour passer d'un processus P1 a un processus P2, les actions suivantes sont effectué :
+1. Sauvegarde des registres de P1 sur la stack
+2. Placement de P1 dans la WAITING queue
+3. Sélectionne le premier processus de la READY queue (P2)
+4. Charge les registres de P2
+5. Restaure le contexte utilisateur
+
+# Exclusion mutuelle 
+- un programme est une entité statique qui contient des processus
+- un processus est une entité dynamique (il s'agit d'une tâche en cours d'exécution)
+
+Les processus ne sont jamais totalement indépendants.
+Ils partagent des ressources (mémoire, fichiers, périphériques, variable, etc.)
+
+Ceci peut conduire à des erreurs et doit donc être controlé.
+
+- ***Section critique :*** partie du code qui accède à une ressource partagée.
+- ***Exclusion mutuelle :*** un seul processus à la fois peut accéder à la section critique.
+- ***Ressource critique :*** ressource qui doit être accédé en exclusion mutuelle
+
+On pourrait éviter les problèmes d'exclusion mutuelle si on pouvait assurer que deux processus n'exécute jamais en même temps une section 
+critique.
+On peut résoudre ce problème à l'aide de **mutex** ou **sémaphore**.
+
+## Exclusion mutuelle par attente active
+
+```pascal
+type processNum = 1..2;
+
+module CS;                                          /* Section critique */
+    defines Enter, Leave;                           /* Primitive */   
+
+    var
+        request : array processNum of boolean;
+        tour    : processNum;
+    procedure Enter(num: processNum);
+    begin
+        request[num] := true;                       /* Demande d'accès */
+        tour := 3 – num;                            /* Autre processus */
+        repeat
+        /* Attendre que l'autre processus ait fini avec "not request" */
+        /* Priorité si les deux processus demandent en même temps à la section critique
+           grâce à "tour = num" */
+        until (not request[3-num]) or (tour = num)
+    end Enter;
+
+    procedure Leave(num: processNum);
+    begin
+        request[num] := false
+    end Leave;
+
+    begin                                           /* Initialisation */
+        request[1] := false;
+        request[2] := false
+    end CS;
+        
+/***********************************************************************/
+
+process P1;
+    uses CS, Console;
+begin
+    CS.Enter(1);
+    Console.Write(”Error on hard disk !”);
+    CS.Leave(1);
+end P1;
+
+/***********************************************************************/
+
+process P2;
+    uses CS, Console;
+begin
+    CS.Enter(2);
+    Console.Write(”Printer not ready !”);
+    CS.Leave(2);
+end P2;
+```
+
+- si les processus *P1* et *P2* ne tentent pas de pénétrer simultanément dans la section
+  critique, la variable *request[3-num]* est fausse et l'entrée en section critique est
+  autorisée
+- si par contre les processus *P1* et *P2* tentent de pénétrer simultanément dans la section
+  critique, la variable *tour* permet d'arbitrer entre les deux demandes. La variable
+  *tour* (à la ligne 15) indique le numéro du processus élu
+
+Cette méthode peut facilement être généralisée à n processus. Il suffit de faire *tour := n+1 – num* et
+*request[n+1-num]*.
+
+Cette solution n'est pas satisfaisante, car elle consomme beaucoup de ressources CPU. En effet, un processus
+qui attend l'accès à la section critique est en attente active. Il est donc en boucle constante et consomme
+beaucoup de ressources CPU.
+
+
+## Exclusion mutuelle par masquage des interruptions
+Masquer les interruptions pour résoudre le problème de l'exclusion mutuelle.
+Plus d'interruption $=>$ plus de commutation de processus $=>$ plus de risque de violer l'exclusion mutuelle.
+
+Le danger avec cette solution est le risque de perte d'information provenant des périphériques. Cela ne peut être une bonne solution 
+que si la section critique est très courte. Il est dangereux de laisser la possibilité de masquer les interruptions à l'utilisateur.
+
+
+## Instruction TAS (TestAndSet)
+L'exclusion mutuelle par masquage des interruptions n'est pas possible dans une architecture multiprocesseur.
+Il est possible de résoudre le problème de l'exclusion mutuelle en utilisant l'instruction *TAS*.
+Elle permet de tester et de modifier une variable en **une seule instruction** assembleur.
+
+
+# Mutex
+Le mutex est utilisé pour bloquer l'accès simultané aux sections critiques avec les primitives suivantes :
+- ***block() :*** Il laisse passer un seul processus à la fois. Si la section est déjà bloquée, le processus et mis dans 
+une file d'attente.
+```pascal
+procedure Block(var v:lock);
+begin
+  if v.state = OPEN then
+    v.state := CLOSE
+  else
+    block the process in the list "v.waiting"
+  end if
+end Block;
+}
+```
+- ***release() :*** Il libère la section critique, si la file d'attente est vide. Sinon, il passe la main au processus 
+suivant.
+```pascal
+procedure Release(var v:lock);
+begin
+  if queue "v.waiting" not empty then
+    unblock first process in the list "v.waiting"
+  else
+    v.state := OPEN
+  end if
+end Release;
+}
+```
+Ces procédures sont elles même des sections critiques. Elles sont cepandant très courte et ne contiennent aucunes entrées-sorties.
+Elles peuvent donc être implémentées à l'aide d'une [Exclusion mutuelle par masquage des interruptions](#exclusion-mutuelle-par-masquage-des-interruptions)
+ou d'une [instruction TAS](#instruction-tas-testandset).
+
+Les Mutex restent un outil primitif. Ils ne s'appliquent pas sur des problèmes plus complexes.
+
+# Sémaphore
+Le sémaphore est une généralisation du mutex. Il permet de bloquer l'accès à une ressource partagée par plusieurs processus.
+Il limite l'accès à plusieurs même ressources utilisées par plusieurs processus.
+
+Par exemple : les processus ont besoin d'imprimer et il y a plusieurs imprimantes à disposition.
+Le sémaphore va limiter l'accès au nombre d'imprimantes disponibles.
+
+Les primitives de sémaphores sont :
+- ***P*** (Passeren = passer) appelé aussi *wait*, *up*, *get* ou *lock*
+```pascal
+procedure P(var s:semaphore);
+begin
+  s.num := s.num – 1;
+  if s.num < 0 then
+    block the process at the end of the list "s.waiting"
+  end if
+end P;
+```
+- ***V*** (Vrijgeven = libérer) appelé aussi *signal*, *down*, *release* ou *unlock*
+```pascal
+procedure V(var s:semaphore);
+begin
+  s.num := s.num + 1;
+  if s.num <= 0 then
+    unblock first process in the list "s.waiting"
+  end if
+end V;
+```
+
+À l'initialisation, le sémaphore est initialisé au nombre de mêmes ressources disponibles.
+Ou alors, il est initialisé à 1 pour un mutex.
+Ou alors, il est initialisé à 0 pour un sémaphore binaire (file d'attente).
+
+
+## Interblocage
+L'interblocage est un problème qui peut survenir lorsqu'un ensemble de processus se bloquent mutuellement.
+On appelle aussi cela un **DEADLOCK**.
+
+## Résolution reader / writter
+Le but est qu'il peut avoir plusieurs processus qui puisse lire la même ressource et aucun modifier la ressource. 
+Sinon, **un** processus peut modifier la ressource et aucun peut lire.
+```cpp
+void BeginRead(void) {
+	osSemaphoreAcquire(rw, osWaitForever);
+    osSemaphoreAcquire(mutexNbReader, osWaitForever);   // ENTER CRITICAL SECTION
+	nbReader++;
+	if(nbReader == 1) osSemaphoreAcquire(w, osWaitForever);
+	osSemaphoreRelease(mutexNbReader);                  // EXIT CRITICAL SECTION
+	osSemaphoreRelease(rw);
+}
+
+void EndRead(void) {
+	osSemaphoreAcquire(mutexNbReader, osWaitForever);   // ENTER CRITICAL SECTION
+	nbReader--;
+	if(nbReader == 0) osSemaphoreRelease(w);
+	osSemaphoreRelease(mutexNbReader);                  // EXIT CRITICAL SECTION
+}
+
+void BeginWrite(void) {
+	osSemaphoreAcquire(rw, osWaitForever);
+	osSemaphoreAcquire(w, osWaitForever);
+}
+
+void EndWrite(void) {
+	osSemaphoreRelease(w);
+	osSemaphoreRelease(rw);
+}
+```
+
+# Coopération-Synchronisation
+La coopération entre processus implique la synchronisation entre eux pour éviter de ressource.
+
+## Évènement
+L'évènement est un outil permettant de résoudre un problème de synchronisation comme les sémaphores ou les mutex.
+On peut manipuler les évènements :
+- ***Wait(event)*** : Attendre que l'évènement **event** se produise par la fonction signal(...)
+- ***Signal(event)*** : Déclencher l'évènement **event**
+- ***Init(event)*** : Reset l'évènement **event** (inverse de signal(event))
+
+On peut aussi résoudre un problème de synchronisation entre processus avec un sémaphore initialisé à 0. On peut le comparer
+à une barrière déclenchable depuis un autre processus.
+
+Les sémaphores ne permettent pas de résoudre tous les problèmes de synchronisation. Trop grand risque de DEADLOCK.
+Il faut utiliser d'autres outils plus performants.
+
+## Le moniteur (monitor)
+On peut l'imager avec une classe entièrement protégée par des sémaphores pour l'accès au variable et fonction (procédure). 
+
+Le moniteur possède comme primitive :
+- ***x.wait*** : bloque le processus jusqu'à ce qu'un x.send soit émis.
+- ***x.send*** : débloque le processus qui attend sur un x.wait.
+
+```pascal
+monitor M;
+defines DepositeChar, TakeChar;
+
+var
+  c : char;
+  chAvailable : boolean;
+  x : signal;
+  
+  procedure TakeChar(var ch:char);
+  begin
+    if not chAvailable then x.wait end if;
+    ch := c;
+    chAvailable := FALSE
+  end TakeChar;
+
+  procedure DepositeChar(ch:char);
+  begin
+    c := ch;
+    chAvailable := TRUE;
+    x.send
+  end DepositeChar;
+ 
+begin
+  chAvailable := FALSE
+end M;
+```
+```pascal
+process Keyboard;
+uses M;
+  var cRead: char;
+begin
+  ...
+  Read a character on keyboard
+  Put it in the cRead variable
+  M.DepositeChar(cRead);
+  ...
+end Keyboard;
+
+process Screen;
+uses M;
+  var cWrite: char;
+begin
+  ...
+  M.TakeChar(cWrite);
+  Write the character cWrite on the screen
+  ...
+end Screen;
+```
+
+## Producteurs / consommateurs
+Le problème survient lorsque le producteur envoie un message au consommateur via une queue.
+[Example](https://git.kb28.ch/Klagarge/PTR-Queue/src/branch/master/main.c)
+
+- ***Le producteur*** (Producer) doit être mis en attente s'il veut déposer un message alors que le tampon est plein
+- ***Le consommateur*** (Consumer) doit être mis en attente s'il veut prélever un message alors que le tampon est vide
+- ***Le producteur*** (Producer) en attente doit être débloqué dès que le consommateur (Consumer) prélève un message
+  - à ce moment le tampon n'est plus plein
+- ***Le consommateur*** (Consumer) en attente doit être débloqué dès que le producteur (Producer) dépose un message
+  - à ce moment le tampon n'est plus vide
+
+On peut résoudre aisément le problème producteurs-consommateurs avec un moniteur ainsi qu'avec un sémaphore.
+
+<b><u>Solution à chier :</u></b><br>
+Le producteur attend que le consommateur soit capable de réceptionner le message, ainsi les deux peuvent
+continuer leurs exécutions (principe de rendez-vous). Ce concept ne possède pas de buffer. 
+
+# Allocation processeur
+État d'un processus :
+
+![img_1.png](img_1.png)
+
+Le processeur possède une liste de descripteur caractérisant chaque processus. Ces descripteurs de processus qui 
+contiennent le registre de status et un pointeur sur sa stack. Ils sont utilisé pour faire des switching context : 
+1. Le noyau va sauvegarder les registres de travail du processus en cours sur la stack.
+2. Il va sauvegarder aussi le registre de status et le pointeur de stack dans la liste de descripteurs.
+3. Il va prendre le descripteur du prochain processus et utiliser ses registres.
+4. Le processus continue jusqu'au nouveau switching context.
+
+## Cycle processeur
+Un processeur réalise alternativement une suite de :
+- ***Cycles processeur*** (CPU burst cycle)
+- ***Cycles d'entrée-sortie*** (I/O burst cycle)
+
+Lorsque le temps de cycle processeur est petit et qu'il y a une attente engendrée par les entrées-sorties, il est pertinent de partager
+le processeur entre plusieurs processus.
+
+## Queues d'ordonnancement
+Les processus en attente du processeur sont placés dans une liste appelée **queue de processus prêts** (ready queue).
+Cette queue peut être gérée comme une file FIFO, une liste de priorité, un arbre, une pile, une liste non-ordonnée, etc.
+
+Cette queue est sous forme d'une liste chaînée qui contient des pointeurs sur les descripteurs de processus.
+Les processus qui ont besoins d'une ressource sont placés dans une liste d'attente correspondant à la ressource (mutex/sémaphore).
+
+L'ensemble des queues peut être regroupé dans le diagramme de synthèse suivant :
+![synthese_diagram_queue_process.png](medias/synthese_diagram_queue_process.png)
+
+
+## Ordonnanceurs
+![ordonnanceur.png](medias/ordonnanceur.png)
+
+### Ordonnanceur à court terme
+- Sélectionne un nouveau processus toutes les millisecondes.
+- Doit être très rapide
+- Est très simple
+
+### Ordonnanceur à long terme
+- Contrôle le degré de multiprogrammation, c'est-à-dire, le nombre de processus en mémoire.
+- Assure que la charge globale du processeur soit répartie équitablement entre les processus réalisant beaucoup d'entrée-sorties et les
+  processus réalisant beaucoup de calculs.
+- S'exécute peu fréquement
+- La complexité de ce dernier augmente fortement.
+
+### Le swapping
+On peut augmenter la RAM avec de la mémoire virtuelle (swap) pour garder les processus et ne pas les mettre en stockage 
+long termes.
+
+### Distributeur de tâches
+Il distribue au processeur les processus sélectionnés par l'ordonnanceur court terme.
+- Il charge les registres du processus sélectionné
+- Il change en mode utilisateur depuis le superviseur. Ce dernier servant à modifier les registres.
+- Il met à jour le PC
+
+## Critères de performance
+- ***Efficacité** (CPU utilisation) : Taux d'utilisation du processus
+- ***Débit*** (troughtput) : Nombre de processus par unité de temps
+- ***Temps global*** (turnaround time) : Temps qui s'écoule entre la soumission du processus et la fin de son exécution
+- ***Temps d'attente*** (waiting time) : Temps d'attente d'un processus dans la queue des processus prêts
+- ***Temps de réponse*** (response time) : intervalle de temps entre l'heure de soumission et l'heure de la première réponse
+
+## Algorithme d'ordonnancement
+L'allocateur du processeur doit sélectionner quels processus situés dans la queue des processeurs prêts doivent recevoir le processeur.
+
+### FIFO
+L'algorithme FIFO est le plus simple. Il sélectionne le premier processus de la queue des processus prêts. Mais, il n'est
+pas forcément le plus efficace.
+
+### Le plus court d'abord
+Le processus avec la plus petite suite d'instruction est exécuté en premier. Si deux processus ont le même nombre d'instructions,
+on peut utiliser un algorithme FIFO pour déterminer le vainqueur. Il est performant, mais c'est compliqué de connaître
+le nombre d'instructions.
+
+Il nécessite d'éstimer en temps réel la longueur du processus.
+
+$$\tau_{n+1} = \alpha\cdot t_{n}+(1-\alpha)\cdot \tau_{n}$$ <br>
+$\tau_{n+1}$ : prochaine valeur estimée <br>
+$\alpha$ : coefficient de pondération $0\leq\alpha\leq 1$ <br>
+$t_{n}$ : valeur mesurée à l'instant $n$ <br>
+$\tau_{n}$ précédente valeur estimée pour l'instant $n$ <br>
+
+### Priorité
+Cet algorithme donne au processeur le processus qui a la plus haute priorité qui est défini par l'utilisateur.
+On peut rencontrer plusieurs problèmes :
+- ***Blocage indéfini*** (indefinite blocking) : on reste bloqué dans un processus de haute priorité.
+- ***Famine*** (starvation) : Les processus de basse priorité ne sont jamais exécuté.
+
+***Solution*** : On augmente la priorité dum processus en attente tous les quantums de temps.
+
+### Ordonnancement avec réquisition (preemptive)
+On réévalue l'ordre des processus dans la queue à chaque tick et le processus élu prend ou garde le processeur.
+
+### Tourniquet (round-robin)
+Il est basé sur une tranche de temps fixe soit quantum de temps. On donne à chacun des processus ce temps et on passe au 
+processus suivant une fois le temps écoulé. 
+Lorsque le temps est grand, on retrouve en quelque sorte une FIFO, car le temps d'exécution des processus est plus court que 
+le quantum de temps.
+Si le temps est très petit, le tourniquet est appelé **processeur partagé** (processor sharing).
+
+<b><u>Overhead</u></b> : temps perdu pour changer de processus.<br>
+
+### Files multiples (multi-queue)
+On utilise cette technique lorsqu'on peut facilement classer les processus en différents groupes. Chaque queue possède son
+propre algorithme d'ordonnancement. Un ordonnancement entre les queues est réalisé soit par priorité et réquisition, soit 
+en round robin.
+
+### Files multiples imbriquées (multi-level feedback queue)
+Cette technique permet aux processus d'évoluer dans des queues en fonction du temps d'exécution écoulé.
+- Un processus entrant dans la queue des processus prêts est placé dans la queue 0
+- Si le quantum est écoulé et que la suite d’instruction processeur n’est pas terminée, le processus est placé dans 
+  la queue de priorité inférieure
+
+Plus on descend dans les queues, plus on est de priorité basse.
+
+<u>Exemple :</u> Plus on descend dans les queues, plus le quantum devient grand.
+
+# Interblocage (DEADLOCK)
+Un processus attend indéfiniment pour accéder à une ressource bloquée. 
+
+L'interblocage apparaît si les 4 conditions apparaissent simultanément :
+1. ***L'exclusion mutuelle*** (mutual exclusion) : Une ressource au minimum n'est pas partageable.
+2. ***La détention et l'attente*** (hold and wait) : Un processus qui dispose déjà d'au moins une ressource et qui attend l'acquisistion
+  d'une nouvelle ressource déjà utilisée par un autre processus.
+3. ***Pas de réquisition*** (no preemption) : Les ressources obtenues par un processus ne peuvent pas lui être retirées contre son gré
+4. ***L'attente circulaire*** (circulare wait) : Il doit y avoir un cycle d'au moins deux processus, chacun d'entre eux attendant
+  une ressource détenue par un autre processus du cycle.
+
+Les interblocages peuvent être décrits plus précisément en utilsant un graphe appelé **graphe
+d'allocation des ressources** (ressource allocation graph).
+![interblocage.png](medias/interblocage.png)
+- Si le graphe d'allocation des ressources ne contient aucun cycle $=>$ Aucun processus n'est en interblocage
+- Si le graphe d'allocation des ressources contient un cycle $=>$ <u>Un risque</u> d'interblocage existe !!
+
+On peut faire une réduction de graphe pour observer l'état suivant du graphe :
+- Un graphe peut être réduit par un processus Pi, si le processus n'a pas de demande de ressource en cours.
+- Pour faire une réduction, on enlève toutes les allocations du processus.
+
+***Complètement réductible*** : si on arrive à faire des réductions successives jusqu'à ce qu'il n'y a plus de flêches
+dans le graphe.
+
+On peut résoudre le problème d'interblocage :
+- ***Prévention*** : On garantit qu'aucun interblocage ne peut se produire.
+  - ***Prévenir** : Empêcher une des 4 conditions de se produire
+  - ***Éviter** : Éviter dynamiquement en allouant les ressource avec précaution
+- ***Détection ou guérison*** : Lorsqu'un interblocage est détecté, on ramène le système dans un état où les processus sont débloqués
+
+En cas d'interblocage, on peut utiliser deux algorithmes pour résoudre ce problème.
+L'algorithme du banquier pour la prévention et ensuite un algorithme de reprise après interblocage.
+
+L'algorithme de reprise fait soit appel à l'aide d'un opérateur, soit par une séquence automatique
+qui tue les processus impliqués dans l'interblocage, soit un processus après l'autre jusqu'à ce que l'interblocage soit résolu.
+Mais la destruction de processus est complexe et dangereuse. 
+
+## Algorithme du banquier (banker's algorithm)
+Cette technique impose de connaître pour chaque processus les ressources dont il aura besoin.
+- Il vérifie avant d'allouer une ressource que le graphe reste complètement réductible.
+- Il alloue une ressource uniquement s'il y a plus de ressources disponibles que demandées. 
+- Sinon la demande de ressource est mise en attente. 
+
+
+<b><u>Exemple :</u></b><br>
+![algo_banquier1.png](medias/algo_banquier1.png)
+![algo_banquier2.png](medias/algo_banquier2.png)
+
+Une ressource n'est attribuée que si les ressources demandées sont inférieurs aux ressources disponibles.
+$$ (N)Needed < (A)Available $$
+
+Si aucune rangée (processus) ne satisfait la condition, il y a <u><b>interblocage</b></u>.
@@ -0,0 +1,9 @@
+<header><h1>
+PTR - Programmation Temps Réel
+</h1></header>
+
+- [XF](/infotro/PTR/XF.md)
+- [UML](/infotro/PTR/UML)
+- [RealTime](/infotro/PTR/RealTime)
+- [SYS - Systèmes](/infotro/PTR/SYS)
+- [PCO - Programmation Concurrente](/infotro/PTR/PCO)
@@ -0,0 +1,209 @@
+<header><h1>
+Real Time
+</h1></header>
+
+## Temps réel vs non - temps réel
+Pour les systèmes non temps réel, seule l'exactitude du résultat importe, le traitement est principalement contrôlé par
+des données massives, et ils ne dépendent pas d'un matériel spécifique.
+En revanche, pour les systèmes temps réel, non seulement l'exactitude du résultat est importante, mais aussi le moment
+où le résultat apparaît. Le traitement est contrôlé par des événements, les données sont simples,
+les quantités sont modérées, le processeur est intensément utilisé, et ces systèmes dépendent d'un matériel spécifique.
+
+**Système Déterministe:**
+1. L'état futur du système peut être prédit de manière précise à partir de son état actuel et des entrées.
+2. Chaque transition d'état est définie de manière univoque par les conditions actuelles, assurant une prévisibilité totale.
+3. Les réponses du système à des signaux d'entrée sont constantes, sans dépendance de la qualité ou du nombre de ces signaux.
+4. Idéal pour les applications où la précision du timing et la prédictibilité du comportement sont cruciales, comme dans les systèmes temps réel.
+5. Le concept de déterminisme assure une fiabilité et une certitude dans le fonctionnement du système.
+
+**Système Non-Déterministe:**
+1. L'état futur du système ne peut pas être prédit de manière précise à partir de son état actuel et des entrées, introduisant une certaine incertitude.
+2. Plusieurs transitions d'état peuvent résulter des mêmes conditions initiales, rendant le comportement du système moins prévisible.
+3. Les réponses du système à des signaux d'entrée peuvent varier en fonction de différents facteurs, tels que la charge du système ou les conditions d'exécution.
+4. Souvent utilisé dans des applications où une flexibilité est nécessaire, mais peut poser des défis dans les systèmes où la prédictibilité est cruciale.
+5. La gestion de l'incertitude et l'adaptabilité aux conditions changeantes sont des caractéristiques clés des systèmes non-déterministes.
+
+### Système temps réel
+- ***Temps réel dur:*** Le systéme fait une erreur si le délai est dépassé.
+- ***Temps réel souple:*** Le système accepte le dépassement du délai sans grave conséquence.
+- ***Temps réel ferme:*** Le système accepte le dépassement du délai, mais le résultat n'est plus d'aucune utilité.
+
+
+### Management du temps (Timing)
+Le timing peut avoir principalement deux formes différentes :
+- *Timing absolu:* Une tâche sera exécutée à un moment dans le temps bien déterminé.
+- *Timing relatif:* Une tâche sera exécutée à la suite de l'apparition d'un événement.
+
+Le timing peut par-contre aussi être classé comme suit :
+- *Fixed Time:* Une tâche sera exécutée à un moment bien précis.
+- *Fixed Time +/-:* L'exécution d'une tâche est démarrée dans un tout petit intervalle de temps avant ou après un moment bien précis.
+- *Latest Time:* L'exécution d'une tâche est démarrée dans un intervalle de temps avant le moment le plus tard possible.
+- *Earliest Time:* L'exécution d'une tâche est démarrée dans un intervalle de temps après le moment le plus tôt possible.
+
+### Management du traitement
+
+***Multitasking:***
+Traitement en thread: pseudo-parallèle
+
+***Multiprocessing:***
+Traintement en parallèle sur plusieurs coeur / processeurs. 
+
+### Management des ressources
+
+***Mutex:***
+Une ressource peut être utilisée par un seul processus à la fois
+
+***Semaphore:***
+Une ressource peut être utilisée par un nombre limité de processus et sous des conditions bien précise
+
+### Approches pour la programmation temps réel
+
+***Synchrone:***
+Tout est planifié à l'avance pendant la phase de programmation.
+
+***Asynchrone:***
+Rien est planifié à l'avance. Toutes les décisions sont faites pendant d'exécution.
+
+#### Synchrone
+Le timing des tâches cycliques est planifié précisément.
+Ces dernières sont synchronisées (démarrées) par un signal d'une horloge.
+La scéquence des tâches est déterminé à l'avance
+Le temps cumulée de l'execution des tâches ne doit pas dépasser le temps d'un cycle.
+![Programmation synchrone](medias/system_synchron.png)
+
+<u>*Avantages*</u><br>
+- Timing précis
+- Comportement déterministe
+
+<u>*Avantages*</u><br>
+- Inadaptée aux Processus Sporadiques :
+- Inflexibilité
+
+#### Asynchrone
+
+Le timing des tâches est contrôlé soit par un RTOS soit par un XF.
+Les tâches sont contrôlées par des événements et des appels de méthodes.
+Des tâches parallèles sont sérialisées.
+Le séquencement des tâches n'est pas déterminé.
+![Programmation asynchrone](medias/system_asynchron.png)
+
+<u>Avantages</u><br>
+- Flexibilité face aux changements de spécification du système.
+- Implémentation possible au moyen de diagrammes d'états transitions.
+
+<u>Inconvénients</u><br>
+- Le RTOS ou le XF introduit des délais dans le traitement.
+- Le timing n'est pas très précis, rendant les systèmes moins déterministes en temps.
+- Systèmes toujours préemptifs, avec la possibilité d'interruptions dans le traitement 
+
+
+## Processus & Thread
+
+**Processus :**
+Un processus est un programme en cours d'exécution, avec sa propre mémoire et ses ressources allouées.
+Dans le contexte des systèmes temps réel, un processus est souvent appelé une "task" (tâche).
+Il peut être lié à un Real-Time Operating System (RTOS) ou un Executive Framework (XF).
+Chaque processus a son propre espace mémoire, ce qui signifie qu'il ne partage pas directement ses données avec d'autres processus.
+La communication entre les processus se fait généralement à travers des messages.
+
+**Thread :**
+- Un thread est une unité d'exécution plus légère au sein d'un processus.
+- Contrairement à un processus, un thread partage le même espace mémoire que son processus parent.
+- Les threads peuvent être exécutés de manière concurrente, ce qui permet un parallélisme au sein du processus.
+- Les threads peuvent communiquer plus facilement entre eux, car ils ont un accès direct à la mémoire partagée.
+
+**Différence :**
+- La principale différence réside dans la gestion de la mémoire. Les processus ont leur propre espace mémoire distinct, tandis que les threads partagent la même mémoire avec leur processus parent.
+- Les threads permettent une exécution concurrente au sein du même processus, tandis que les processus sont généralement des entités indépendantes.
+- En résumé, un processus est un programme complet en cours d'exécution, tandis qu'un thread est une unité d'exécution plus petite qui partage la mémoire avec d'autres threads dans le même processus.
+
+```plantuml
+@startuml
+binary "Red Task" as r
+binary "Green Task" as g
+binary "Blue Task" as b
+concise "Task" as t
+robust "Red Task" as rt
+
+@0
+r is low
+g is low
+b is low
+t is {-}
+rt is Sleep
+
+@1
+r is high
+g is high
+b is high
+t is "" #blue
+rt is ready
+
+@2
+r is low
+g is low
+b is low
+t is "" #green
+
+@4
+t is "" #red
+rt is running
+
+@6
+b is high
+t is "" #blue
+rt is interrupt
+
+@7
+b is low
+t is "" #red
+rt is running
+
+@9
+b is high
+g is high
+t is "" #blue
+rt is interrupt
+
+@10
+b is low
+g is low
+t is "" #green
+
+@12
+t is "" #red
+rt is running
+
+@13
+t is {-}
+rt is Sleep
+
+@enduml
+```
+
+## Scheduling
+
+
+## OSAL, OXF, RTOS
+
+**Différence entre OSAL, OXF et RTOS :**
+
+1. **OSAL (Operating System Abstraction Layer) :**
+    - L'OSAL est une couche d'abstraction qui fournit une interface uniforme pour accéder aux services du système d'exploitation sous-jacent.
+    - Il permet de rendre le code portable entre différents systèmes d'exploitation en masquant les détails spécifiques de chaque système.
+    - L'OSAL est utile dans des environnements où le système d'exploitation peut varier, permettant ainsi d'adapter le logiciel à différentes plates-formes sans changer le code applicatif.
+
+2. **OXF (Object Execution Framework) :**
+    - L'OXF est un framework qui fournit une infrastructure pour le développement d'applications temps réel orientées objet.
+    - Il facilite la modélisation d'objets réactifs, possédant souvent une machine à états, et offre une gestion efficace des événements.
+    - L'OXF peut être utilisé avec ou sans RTOS. Il fournit des fonctionnalités telles que la gestion des événements, la gestion des tâches, et la synchronisation entre les objets réactifs.
+
+3. **RTOS (Real-Time Operating System) :**
+    - Un RTOS est un système d'exploitation conçu pour répondre aux exigences temporelles strictes des systèmes temps réel.
+    - Il offre des fonctionnalités telles que l'ordonnancement des tâches, la gestion du temps, la synchronisation, et la gestion des interruptions pour assurer des réponses prévisibles aux événements.
+    - Un RTOS peut être utilisé en conjonction avec l'OXF pour développer des systèmes temps réel orientés objet.
+
+**Conclusion :**
+- L'OSAL fournit une abstraction des services du système d'exploitation.
+- L'OXF est un framework pour le développement d'applications temps réel orientées objet.
+- Un RTOS est un système d'exploitation temps réel complet, offrant des services spécifiques pour répondre aux contraintes temporelles strictes.
@@ -0,0 +1,163 @@
+<header><h1>
+Introduction aux systèmes d'exploitation
+</h1></header>
+
+![operating_system.png](medias/operating_system.png)
+
+Le système d'exploitation virtualise la partie hardware pour :
+- Simplifie l'utilisation
+- Gère les ressources physiques
+  - Processeur
+  - Mémoire principale
+  - Entrées-sorties (disques, interfaces réseaux, ...)
+
+L'OS gère les ressources à l'aide de technique de gestion des mémoires et de partage de ressources
+partageable entre plusieurs utilisateurs (ex : threads).
+Pour ce faire, il 
+- connait à tout moment l'utilisateur d'une ressource
+- gère les accès à une ressource
+- accorde l'usage d'une ressource
+- évite les conflits
+
+Les premiers systèmes d'exploitation étaient des systèmes à traitement par lots.
+Les programmes étaient regroupés en lots et exécutés les uns après les autres.
+Les programmes étaient chargés en mémoire et exécutés sans intervention de l'utilisateur.
+
+## Machine à transistors
+
+- Coûtent cher
+- Les utilisateurs ne peuvent pas interagir avec le système
+- Les utilisateurs écrivent leurs programmes en Fortran et en assembleur
+
+<b><u>Fonctionnement :</b></u>
+1. Programmation d'une carte perforée en Fortran ou en assembleur
+2. L'opérateur prend les cartes perforées et les charge dans le compilateur
+3. L'opérateur récupère les cartes perforées compilées et les charge dans "l'ordinateur"
+4. L'ordinateur exécute le programme
+5. S'il y a une erreur, l'opérateur imprime l'image de la mémoire sur un listing et doit tout recommencer.
+
+## Systèmes à traitement par lots
+Pour accélérer les opérations, deux méthodes sont utilisées :
+- ***Le traitement par lots (batch processing) :*** Regroupe et traite à la suite les travaux similaires
+- ***Le moniteurs d'enchaînement (linking monitor) :*** Les travaux sont automatiquement enchaîné et
+executé par un programme spécialisé (ancêtre des systèmes d'exploitation)
+  - Une place mémoire lui est réservée dans la mémoire centrale qui se divise donc en une zone moniteur
+  et une zone utilisateur
+
+## Sysèmes avec spooling
+Les systèmes avec spooling permettent d'accéder simultanément à plusieurs périphériques d'entrée/sortie.
+Les travaux sont stockés dans une file d'attente (spool) et sont traités par un programme spécialisé.
+Le spooling permet de traiter plusieurs travaux en même temps.
+
+La mémoire est partagée en quatre programmes : 
+- Le programme d'entrée
+- Le programme d'enchaînement
+- Le programme de l'utilisateur
+- Le programme de sortie
+
+![spooling.png](medias/spooling.png)
+
+## Système à multi-programmation
+La multi-programmation permet de partager le processeur entre plusieurs programmes.
+Chaque programme est chargé en mémoire et est exécuté en alternance.
+Dès qu'un programme doit lire des données ou écrire des résultats, il est mis en attente et un autre
+programme est exécuté afin d'optimiser l'utilisation du processeur.
+
+![multiprogramming .png](medias/multiprogramming.png)
+
+La commutation de l'exécution d'un programme à un autre est assuré par l'**ordonnanceur** (scheduler).
+
+*Inconvénients :* Les programmes cours, sont pénalisés, car leur temps d'exécution dépend aussi des autres
+programmes en cours d'exécution.
+
+
+## Système à temps partagé
+Le système à temps partagé permet à plusieurs utilisateurs d'accéder simultanément à l'ordinateur.
+Chaque utilisateur dispose d'un temps d'utilisation du processeur (time slice) qui est très court (ex. 40 msec).
+
+![time-sharing.png](medias/time-sharing.png)
+
+## Système temps réel
+Les systèmes temps réel doivent être capables réagire au rythme où les données arrivent et repartent.
+Ils ont des contraîntes plus hautes ques les systèmes à temps partagé, qui peuvent se permettent d'attendre
+alors qu'un système temps réel aurait des conséquences fâcheuses.
+
+## Systèmes multi-processeur répartis
+Dans un système multi-processeur répartis, chaque processeur dispose de son propre système d'exploitation.
+Les systèmes d'exploitation communiquent entre eux pour partager les ressources.
+
+
+# Mécanisme d'entrées-sorties
+Pour accéder aux périphériques, le processeur utilise des mécanismes d'entrées sorties.
+
+## Les registres d'un processeur
+Les registres contenus dans le processeur sont regroupés selon leur fonctionnalités
+- Registre généraux
+- Registre spécialisés
+  - Le **registre d'instruction** IR (Instruction Register) contient l'instruction courante
+  - Le **compteur ordinal** PC (Program Counter) contient l'adresse de l'instruction courante
+- Le **registre d'état** SR (Status Register) contient des informations sur l'état du processeur
+
+Ces regstres caractérisent le contexte d'un programme. Il s'agit de la partie sauvegardée lors d'un
+*switching context* (changement de contexte).
+
+
+## Les registres d'un périphérique
+Les périphériques disposent, pour comuniquer avec le processeur, d'un certain nombre de registres: 
+- **Registre de données** DR (Data Register) : Contient les données à lire ou à écrire
+- **Registre d'état** SR (Status Register) : Contient des informations sur l'état du périphérique
+- **Registre de commande** CR (Command Register) : Détermine les caractéristiques du périphérique
+
+## Entrées-sorties en boucle d'attente
+Dans ce mode, le processeur attend que le périphérique soit prêt pour effectuer une opération.
+Le processeur effectue une boucle d'attente jusqu'à ce que le périphérique soit prêt.
+
+1. Le processeur contrôle le registre d'état du périphérique
+2. Si le périphérique n'est pas prêt, le processeur effectue une boucle d'attente. S'il est prêt : 
+3. Le processeur écrit les données dans le registre de données
+4. Le processeur écrit la commande dans le registre de commande
+5. Le périphérique effectue l'opération
+6. Le périphérique met à jour le registre d'état
+7. Le processeur lit les données dans le registre de données
+
+Si le périphérique notifie le processeur : 
+1. Le périphérique va changer son statut
+2. Le processeur va pouvoir aller chercher les données dans le registre de données 
+
+## Les interruptions
+Les interruptions permettent de signaler au processeur qu'un événement s'est produit.
+Le signal est la conséquence d'un évènement interne au programme et résultant de son exécution ou 
+externe et indépendant de son exécution. Toute l'information nécessaire pour traiter l'interruption
+est regroupé en mémoire dans deux mots consécutis, appelés **vecteur d'interruption** (vector interrupt).
+On y trouve : 
+- L'adresse de la routine de traitement de l'interruption
+- Le registre d'état du processeur pour cette routine.
+
+Lorsqu'une interruption se produit, le processeur effectue un switching context et exécute la routine.
+
+On distingue en général au moins trois niveaux d'interruption :
+- Les interruptions externes
+- Les exceptions internes
+- Les appels systèmes
+
+![interruptions.png](medias/interruptions.png)
+
+## La DMA
+La [DMA](/infotro/SEm/DMA) (Direct Access Memory) permet de faire des transferts vers la mémoire rapidement.
+Le processeur laisse le controller DMA accéder au périphérique pour amener les données directement dans la
+mémoire et éviter de perdre du temps en passant par le processeur qui doit faire une copie des données.
+Elle est très utile lorsqu'il y a un grand nombre de données.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Author	SHA1	Message	Date
Klagarge	7b34f5a589	feat(cs): add initial lazygit doc Build site / build (push) Successful in 2m50s Details Build site / deploy (push) Skipped Details	2026-10-12 14:06:04 +02:00
Klagarge	6436f52889	feat(cs): add initial git doc	2026-10-12 14:05:52 +02:00
Klagarge	49e6820eae	feat(cs): add tools section	2026-10-12 14:05:28 +02:00
Klagarge	f8350ba235	ops: adapt script to work on windows	2026-10-12 13:32:43 +02:00
Klagarge	09f0dc42e4	chore(home): add metadatas Build site / build (push) Successful in 2m44s Details Build site / deploy (push) Successful in 7s Details	2026-10-11 23:46:05 +02:00
Klagarge	8e2303fcdf	refactor: change main categories Build site / build (push) Successful in 2m48s Details Build site / deploy (push) Successful in 6s Details	2026-10-11 23:32:36 +02:00
Klagarge	4917abe9e6	ops: add toc on side	2026-10-11 23:26:28 +02:00
Klagarge	b52629d1f6	feat(home): add gardening with yuca and dracaena	2026-10-11 23:23:48 +02:00
Klagarge	b9159581f3	ops: add strip-exif function in justfile	2026-10-11 23:23:14 +02:00
Klagarge	9e9163f01b	chore: add IDE in gitignore	2026-10-11 23:22:57 +02:00
Klagarge	54a69b51ae	ops: add lib with tag function	2026-10-11 23:22:42 +02:00
Klagarge	975ba4f312	fix: remove act check Build site / build (push) Successful in 50s Details Build site / deploy (push) Successful in 3s Details	2026-10-11 20:09:47 +02:00
Klagarge	6cd5ed61c4	Merge branch 'refactor: migrate to calepin' Build site / build (push) Successful in 51s Details Build site / deploy (push) Successful in 2s Details Reviewed-on: #1	2026-10-11 18:06:17 +00:00
Klagarge	1adca36802	ci: publish to the pages branch on main pushes Build site / build (push) Successful in 52s Details Build site / deploy (push) Skipped Details Assisted-by: Delta:zai-glm-5.3	2026-10-11 20:00:54 +02:00
Klagarge	3b1ef34bce	feat: enable PDF output for pages Assisted-by: Delta:zai-glm-5.3	2026-10-11 18:56:04 +02:00
Klagarge	6b33be6956	chore: add a recipe for local act runs Assisted-by: Delta:zai-glm-5.3	2026-10-11 00:22:23 +02:00
Klagarge	f94a5cbe17	ci: use upload-artifact v3 for gitea Assisted-by: Delta:zai-glm-5.3	2026-10-11 00:22:23 +02:00
Klagarge	af31b6165c	chore: remove unused placeholder Build site / build (push) Failing after 11s Details	2026-10-11 00:09:52 +02:00
Klagarge	946177a0b9	feat: style the landing page with the academic theme Assisted-by: Delta:zai-glm-5.3	2026-10-11 00:00:42 +02:00
Klagarge	3361c9ee3d	feat: scope the sidebar to the current category Assisted-by: Delta:zai-glm-5.3	2026-10-10 23:53:55 +02:00
Klagarge	ab802968ca	chore: add custom placeholder and fine tune calepin-toml	2026-10-10 23:51:22 +02:00
Klagarge	096026a964	docs: describe the site menu in README Assisted-by: Delta:zai-glm-5.3	2026-10-10 22:05:21 +02:00
Klagarge	6478741950	feat: add master categories to the site menu Assisted-by: Delta:zai-glm-5.3	2026-10-10 22:05:08 +02:00
Klagarge	eb995c7b69	feat: restructure content into master categories Assisted-by: Delta:zai-glm-5.3	2026-10-10 22:04:31 +02:00
Klagarge	7207cfdbd0	docs: update README and AGENT.md for the scripts layout Assisted-by: Delta:zai-glm-5.3	2026-10-10 21:02:59 +02:00
Klagarge	36b2fc4188	ci: build site via the toolchain scripts Assisted-by: Delta:zai-glm-5.3	2026-10-10 21:02:41 +02:00
Klagarge	62c4619c5e	docs: add example sub-pages Assisted-by: Delta:zai-glm-5.3	2026-10-10 21:02:41 +02:00
Klagarge	f7beeb5e15	fix: align site scaffold with calepin conventions Assisted-by: Delta:zai-glm-5.3	2026-10-10 21:02:20 +02:00
Klagarge	99ceb89e48	refactor: move toolchain logic into scripts/ Assisted-by: Delta:zai-glm-5.3	2026-10-10 21:01:20 +02:00
Klagarge	7217702068	chore: ignore generated outputs and IDE files Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:39:55 +02:00
Klagarge	11bf721f21	fix: adjust Justfile and typst templates for calepin 0.0.61 Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:39:46 +02:00
Klagarge	446c156338	docs: write README and AGENT.md Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:30:15 +02:00
Klagarge	909ea17f2f	ci: add Gitea Actions workflow Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:30:08 +02:00
Klagarge	7a0df30ca1	docs: add example categories Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:30:00 +02:00
Klagarge	a5f95bb6d7	feat: scaffold calepin website Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:29:53 +02:00
Klagarge	f047389da9	chore: bootstrap pinned toolchain Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:29:36 +02:00
Klagarge	b78f79e12e	docs: move legacy docs to legacy_docs/ Assisted-by: Delta:zai-glm-5.3	2026-10-10 20:28:25 +02:00
Klagarge	d607e5df4d	add MSE/SRE/tools (#29 )	2025-03-16 16:47:18 +01:00
Klagarge	4199eb0e42	add MSE/SRE/tools	2025-03-16 16:44:48 +01:00
Fastium	0f4556a8a0	PTR/PCO modifications (#28 )	2024-05-07 11:44:31 +02:00
Fastium	dc62de5b6b	Merge pull request #21 Infotro/s em/ind	2024-05-07 11:39:06 +02:00
Ranium	48296ab45c	fix todo and and the file into the right readMe	2024-05-07 11:30:08 +02:00
Ranium	de2deb15ad	add pco modification	2024-05-07 11:23:23 +02:00
Rémi Heredero	c3d3479327	add end of rf chapters (#27 )	2024-05-05 18:33:59 +02:00
Klagarge	1bf4eeb242	add end of rf chapters	2024-05-05 18:32:59 +02:00
Rémi Heredero	6139748849	add SDi semester 6 (#26 )	2024-05-04 17:55:50 +02:00
Klagarge	5637b4b14a	add security information	2024-05-04 15:15:01 +02:00
Klagarge	79d0f08273	add databases	2024-05-04 10:43:02 +02:00
Rémi Heredero	c7aabc7560	add Teams (#25 )	2024-04-16 09:08:41 +02:00
Klagarge	c16086c8dc	add Teams	2024-04-16 09:07:50 +02:00
Rémi Heredero	525d5d466c	Sdi lab ssl (#24 )	2024-04-05 14:18:12 +02:00
Klagarge	0149f59c82	add description to a certificate	2024-04-05 14:14:23 +02:00
Klagarge	35ee5b72df	add ssl-lab	2024-04-05 13:26:58 +02:00
Klagarge	47b6eb808e	add switching contexte explanation	2024-03-25 22:18:55 +01:00
Rémi Heredero	bdaa3e1ce4	Infotro/ptr (#23 )	2024-03-24 18:09:50 +01:00
Klagarge	ac64daca7f	finish summary about PTR	2024-03-24 18:09:04 +01:00
Klagarge	5a1314a97a	add PCR, ALP	2024-03-24 16:45:01 +01:00
Rémi Heredero	7d45d9d8e4	add os & concurrent programmation (#22 )	2024-03-23 17:06:51 +01:00
Klagarge	991f49776d	add os & concurrent programmation	2024-03-23 17:06:24 +01:00
Klagarge	19acbe1a74	typos	2024-03-23 13:23:30 +01:00
Rémi Heredero	76ae3150a0	add transmission ligne & smith chart (#20 )	2024-03-23 10:29:17 +01:00
Klagarge	9c298cba2c	fix nRF	2024-03-20 19:13:21 +01:00
Klagarge	f0784cfef6	add transmission ligne & smith chart	2024-03-20 17:38:42 +01:00
Rémi Heredero	60e881a27f	move files (#19 )	2024-03-20 15:55:43 +01:00
Klagarge	06afb2e4d1	move files	2024-03-20 15:54:39 +01:00
Rémi Heredero	0c421a159c	add nordic tutorial for developing environment installation (#18 )	2024-03-20 15:44:09 +01:00
Klagarge	228da72eb1	add nordic tutorial for developing environment installation	2024-03-20 15:37:06 +01:00
Rémi Heredero	0f8fcb4fe6	add RF (#17 )	2024-03-19 10:43:39 +01:00
Klagarge	dbb7c8f33b	add RF	2024-03-16 18:54:01 +01:00
Rémi Heredero	c7d7b6ae8c	add HES-SO OneDrive-Linux (#16 )	2024-03-16 12:21:20 +01:00
Klagarge	343f7c7e3a	add HES-SO OneDrive-Linux	2024-03-16 12:20:46 +01:00
Rémi Heredero	ae4d5b8f33	fix display lab (#15 )	2024-02-29 15:27:08 +01:00
Klagarge	fbef6eceee	fix display lab	2024-02-29 15:26:04 +01:00
Rémi Heredero	9a919151cc	Infotro/sdi/labo (#14 )	2024-02-29 15:14:21 +01:00
Klagarge	f52207eed3	finish lab	2024-02-29 15:01:47 +01:00
Rémi Heredero	7a6970f89e	add totp in security/ssh (#13 )	2024-02-28 07:34:51 +01:00
Klagarge	5228190c95	add totp in security/ssh	2024-02-28 07:33:22 +01:00
Klagarge	2035387730	update lab-database	2024-02-27 14:26:22 +01:00
Klagarge	04f2ca9aba	add lab-database	2024-02-22 15:08:55 +01:00
Fastium	b4ac04880a	fix problems	2024-02-21 17:00:40 +01:00
Fastium	766013fd3c	update index	2024-02-21 16:12:13 +01:00
Fastium	a9039fccc5	add content IND	2024-02-21 16:04:10 +01:00
Rémi Heredero	91e02ba46a	Plugins (#12 )	2024-02-18 10:52:03 +01:00
Klagarge	1c40e87061	add plugin progress, accordion and last time updated	2024-02-18 10:51:11 +01:00
Klagarge	d3e4ab7876	add plugin count	2024-02-17 14:53:18 +01:00
Fastium	a8a085b5aa	Infotro/sem/int (#11 )	2024-02-06 15:15:56 +01:00
Fastium	9bcc548c9e	add interrupt in/out description	2024-02-06 12:40:33 +01:00
Klagarge	c6cfe50a94	add cpsr	2024-02-05 17:04:02 +01:00
Klagarge	d0c08a35a2	add interruption	2024-02-05 15:07:44 +01:00
Klagarge	f716270ab6	add some rows	2024-02-04 19:39:21 +01:00
Rémi Heredero	587fe17f36	Infotro/eln/examens (#10 )	2024-02-04 19:13:19 +01:00
Klagarge	f08600e8bc	add bilinear conversion w0 w0'	2024-02-04 19:10:14 +01:00
Klagarge	938af714d1	typo	2024-02-04 19:09:45 +01:00
Klagarge	15639751af	add filter summary	2024-02-04 19:09:35 +01:00
Rémi Heredero	b2b6cf5c14	fix access files (#9 )	2024-02-04 17:06:33 +01:00
Klagarge	779a20386f	fix access files	2024-02-04 17:05:51 +01:00
Rémi Heredero	959f3397f6	refactor and add some miss equations (#8 )	2024-02-04 16:51:23 +01:00
Klagarge	e5a00441e4	refactor and add some miss equations	2024-02-04 16:49:33 +01:00
Klagarge	6f558c0dab	fix code highlighter	2024-02-04 09:34:19 +01:00
Klagarge	bee1139aff	Merge branch 'infotro/Eln/signaux_echantillonnage'	2024-02-04 09:30:38 +01:00
Klagarge	c7a1f438d2	add lab6-filters	2024-02-03 23:43:11 +01:00
Klagarge	aa399dcc93	add lab6-filters	2024-02-03 23:35:38 +01:00
Klagarge	4d5693aa1d	clean matlab	2024-02-03 23:35:38 +01:00
Klagarge	1e5a337f94	add pictures & MATLAB	2024-02-03 23:35:38 +01:00
Klagarge	841c7082c9	add beginning of lab6-filter	2024-02-03 23:35:38 +01:00
Klagarge	9dec00c656	fix row on table	2024-02-03 18:38:05 +01:00
Klagarge	ecc766fb53	add heaviside discret explanation	2024-02-03 18:36:30 +01:00
Rémi Heredero	7cb0973700	Infotro/eln/signaux echantillonnage (#6 ) * add IIR filters * fix signaux et echant. * typo * add filtres numériques	2024-02-03 17:33:54 +01:00
Klagarge	ec57b65794	add filtres numériques	2024-02-03 17:32:48 +01:00
Klagarge	e10ab79b06	typo	2024-02-03 17:30:39 +01:00
Klagarge	f55f01c352	fix signaux et echant.	2024-02-03 12:20:48 +01:00
Klagarge	f436b9de25	add IIR filters	2024-02-03 12:20:32 +01:00
Rémi Heredero	e03787ac7b	Merge pull request from infotro/Eln/signaux_echantillonnage update pictures in signaux et echant.	2024-02-02 20:46:53 +01:00
Klagarge	85cf4d28da	update pictures in signaux et echant.	2024-02-02 20:45:54 +01:00
Rémi Heredero	f0d9cff028	Merge pull request from /infotro/Eln/signaux_echantillonnage Infotro/eln/signaux echantillonnage	2024-02-02 18:03:49 +01:00
Klagarge	1092fb86cc	add signaux et échantillonnage	2024-02-02 18:01:26 +01:00
Klagarge	9d6794a04e	add signaux et échantiollnage	2024-02-02 12:39:20 +01:00
Rémi Heredero	9ce3d6939c	Merge pull request from infotro/SDi/TransmissionProcess - delete paper_exercice - update transmission process	2024-02-01 18:55:14 +01:00
Klagarge	d9c1dfa147	update transmission process	2024-02-01 18:54:13 +01:00
Klagarge	60e2650707	delete paper_exercise	2024-02-01 17:14:41 +01:00
Rémi Heredero	415f7786ba	Merge pull request from /infotro/SDi/TransmissionProcess add medias in transmission process	2024-02-01 17:05:56 +01:00
Klagarge	80373fdd08	add medias in transmission process	2024-02-01 17:05:04 +01:00
Klagarge	d7242688df	add collaborateurs	2024-02-01 16:17:38 +01:00
Klagarge	285c888b8d	update bluetooth	2024-02-01 16:17:19 +01:00
Klagarge	33c1ffb7d2	update bluetooth	2024-02-01 15:52:14 +01:00
Klagarge	95a5a19943	add exercice on protocol development	2024-02-01 15:50:12 +01:00
Rémi Heredero	2bffbf4a60	typo & configuration for ocal running from Zimo fait des modificatio de zigoto	2024-02-01 15:31:10 +01:00
Klagarge	1bb25ec1c1	add umlet diagram	2024-02-01 15:03:44 +01:00
SimoDonn	fb6958da1e	run configuration	2024-02-01 14:27:14 +01:00
SimoDonn	559e8bcc4d	typo de ses morts	2024-02-01 12:09:50 +01:00
Klagarge	a4058a2882	add bluetooth theory form Yann	2024-02-01 10:41:12 +01:00
Klagarge	813f64d922	typo in iot_technologies	2024-02-01 10:40:51 +01:00
Klagarge	3aea1a47b9	add pictures and glossary in protocol development	2024-02-01 10:40:14 +01:00
Klagarge	3d08888842	add protocol development	2024-02-01 10:16:02 +01:00
Klagarge	9a811a2d3d	fix xml_example.png	2024-01-31 22:50:03 +01:00
Klagarge	ec4a16209b	fix kroki	2024-01-31 22:48:25 +01:00
Klagarge	54c40613e7	move medias	2024-01-31 19:19:59 +01:00
Klagarge	5e713e5151	add example SDi/IOT_Technologies/MQTT	2024-01-31 18:44:39 +01:00
Klagarge	12854429d1	add example SDi/IOT_Technologies/http/URI-IRI-URL	2024-01-31 16:51:51 +01:00
Klagarge	8a7ce06fe6	add SDi/IOT_Technologies/http/URI-IRI-URL	2024-01-31 16:33:02 +01:00
Klagarge	295a0844be	add SDi/IOT_Technologies/serialisation	2024-01-31 15:23:12 +01:00
Klagarge	5da923e68b	add SDi/IOT_Technologies/serialisation	2024-01-31 15:20:48 +01:00
Klagarge	649c2c2f58	add SDi/IOT_Technologies	2024-01-31 13:54:26 +01:00
Klagarge	3446d70a59	add PTR summary	2024-01-30 17:39:21 +01:00
Klagarge	a02898f301	add local script for drawio	2024-01-29 09:15:43 +01:00
Klagarge	c49ee22234	remove package json	2024-01-28 19:26:25 +01:00
Klagarge	49c891377b	refactor for common usage	2024-01-28 19:13:10 +01:00
Klagarge	d4dbc07c20	Merge remote-tracking branch 'origin/main'	2024-01-28 12:55:50 +01:00
Klagarge	00b5dfea65	first week of revision	2024-01-28 12:55:21 +01:00
Klagarge	20b294a769	first week of revision	2024-01-27 20:22:46 +01:00
Rémi Heredero	504472e7cc	Create CNAME	2024-01-25 20:36:47 +01:00
Rémi Heredero	0d16b6fcaf	Delete CNAME	2024-01-25 20:36:43 +01:00
Rémi Heredero	9b0110b8d1	Update CNAME	2024-01-24 11:50:13 +01:00
Rémi Heredero	eaf4ed24fd	Create CNAME	2024-01-24 11:49:57 +01:00
Klagarge	b32065ca9c	create Yggdrasil	2024-01-24 11:42:14 +01:00
Klagarge	5feafd8877	move files	2023-11-21 22:16:42 +01:00
Klagarge	a0a1aab660	add drawio	2023-11-21 17:20:35 +01:00
Klagarge	c67bf20145	update some docs + add navbar	2023-11-21 17:10:27 +01:00
Klagarge	01d9d71ff5	add some docs	2023-11-20 21:38:23 +01:00
Klagarge	8c4bdd9e41	update for STM32	2023-11-02 14:07:09 +01:00
Klagarge	f13f4faa02	Initial commit	2023-10-30 16:09:37 +01:00