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17 [[!img ert_linux_snapshot1.png size="300x" align=right alt="Screenshot or ert_linux"]]
20 for <a href="http://www.mathworks.com/">MathWorks</a>' <a href="http://en.wikipedia.org/wiki/Simulink">Simulink</a>®
21 Embedded Coder® allows to compile a model of designed control system
22 to the C-code and combine it with target specific support functions.
23 The resulting executable/controller can be run in real-time on the
24 target Linux system. The running dynamic system can be augmented via
25 tunable block parameters in the Simulink model and data can be
26 acquired and visualized with Simulink scopes.
30 Linux ERT target uses heavily real-time capabilities
31 of <abbr title="PREEMPT RT">real-time</abbr> variant of the Linux
32 kernel. The resulting control system supports sampling frequencies
41 <h2 id="news">Recent News</h2>
45 We will present the ert_linux project
46 at <a href="http://www.amper.cz/en/online-catalog/list-of-exhibitors.html/e9595_0-fakulta-elektrotechnicka-cvut-v-praze">Amper
47 exhibition</a> from 18th to 21st March 2014 in Brno, Czech Republic.</li>
49 Linux ERT at Embedded World exhibition – 25 until 27 February 2014 - Visit
50 <a href="http://www.ask-embedded-world.de/index.php5?id=342793&Action=showCompany">DCE CTU</a>
51 developers and researchers at the OSADL booth (hall 5 booth 276).
55 <h2 id="linuxnative">Native Linux Real-Time and I/O Cards Support</h2>
57 <p>Current version of the Linux ERT target is optimized to use the
58 proper Linux kernel timing mechanism with bounded maximal latencies.
59 Matlab/Simulink running on GNU/Linux desktop system as development
60 system is supported. More information about current version can be
62 in <a href="http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/">Michal
63 Sojka's blog post</a>. UIO driver and blockset has been implemented to
65 <a href="http://www.humusoft.com/produkty/datacq/">Humusoft data acquisition cards</a> (MF624 for now).</p>
67 <p><abbr title="User Space I/O">UIO</abbr> driver for the MF624 card
68 is already included in the Linux mainline kernel. More documentation
69 for this driver can be found
70 on <a href="http://rtime.felk.cvut.cz/hw/index.php/Humusoft_MF6xx">DCE
73 <h2 id="download">Source Code and Download</h2>
76 <dt>Lintarget at Source Forge</dt>
77 <dd><a href="https://sourceforge.net/projects/lintarget/files/">project download area</a>
78 contains released versions of the Linux target and CANopen based distributed system
80 <dt>Linux ERT source code repository</dt>
81 <dd><a href="http://rtime.felk.cvut.cz/gitweb/ert_linux.git">http://rtime.felk.cvut.cz/gitweb/ert_linux.git</a>
82 <br>version updated for real-time and native GNU/Linux host/target system setup
84 <dt>Humusoft MF624 card support blockset</dt>
85 <dd><a href="http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git">http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git</a>
86 <br>initial version of blockset supporting analog and digital input/output, IRC, PWM and PWM measurement for MF624 cards.
91 <h2 id="prjbackground">Project Background</h2>
94 The Linux ERT has been initially developed at <a href="#dce">DCE of
95 CTU</a> in order to create a dynamic environment model for hardware
96 (airplane) in the loop testing of a fly-by-wire system
97 at <a href="http://www.aero.cz/en">AERO Vodochody a.s.</a>. Simulink
98 has been run on Windows host computer initially and code generated for
99 GNU/Linux embedded target system was compiled
100 under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a>
101 environment and then uploaded to PowerPC
102 based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a>
103 computer. The target computer was equipped with two CAN
104 interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
105 blockset based on <a href="http://canfestival.org/">CANfestival</a>
106 project was used to control distributed servosystem used to simulate
107 fly-by-wire system load. Simulink CANopen blockset integrates a
108 <a href="http://en.wikipedia.org/wiki/Socketcan">SocketCAN</a> driver configuration and CAN messages
109 processing support to the generated code and enables the user to develop distributed embedded
110 control applications with CANopen communication.</p>
112 [[!img LinTarget.JPG size=300x alt="Original code generation workflow"]]
113 [[!img CANopenExample.JPG size=300x alt="Model including node controlled over CANopen"]]
115 <p>Lukáš Hamáček, “<b>RTW target for Linux with CANopen support</b>”, Master Thesis, Prague 2009. (<a href="dp_2009_hamacek_lukas.pdf">Pdf</a>)</p>
117 <h2 id="contributors">Project Contributors</h2>
120 <dt>Michal Sojka</dt>
121 <dd><a href="mailto:sojkam1@fel.cvut.cz">sojkam1@fel.cvut.cz</a> ,
122 homepage <a href="http://rtime.felk.cvut.cz/~sojka/">http://rtime.felk.cvut.cz/~sojka/</a>
123 <br>teacher, researcher and developer at DCE CTU.
126 <dd><a href="mailto:pisa@cmp.felk.cvut.cz">pisa@cmp.felk.cvut.cz</a> ,
127 homepage <a href="http://cmp.felk.cvut.cz/~pisa/">http://cmp.felk.cvut.cz/~pisa/</a>
128 <br>teacher, researcher and developer at DCE CTU.
130 <dt>Rostislav Lisový</dt>
131 <dd><a href="mailto:lisovros@fel.cvut.cz">lisovros@fel.cvut.cz</a>
132 <br>former CTU master study programe student, Linux related projects developer at DCE now.
134 <dt>Libor Waszniowski</dt>
135 <dd><a href="mailto:xwasznio@fel.cvut.cz">xwasznio@fel.cvut.cz</a>
136 <br>former DCE CTU researcher responsible for the project with AERO Vodochody.
138 <dt>Lukáš Hamáček</dt>
140 former CTU master student.
145 <p id="dce"><b>DCE</b> – <a href="http://dce.fel.cvut.cz/" target="_blank">Department of Control Engineering</a> –
146 <a href="http://www.cvut.cz/en" target="_blank">Czech Technical University in Prague</a>, <a href="http://www.fel.cvut.cz/en" target="_blank">Faculty of Electrical Engineering</a></p>
148 <h2>Acknowledgment</h2>
150 <p>This work was supported by Ministry of Industry and Trade of the Czech Republic under Project
151 FT—TA3/044 during period of 2006 to 2009 years.</p>