1 <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"
2 "http://www.w3.org/TR/html4/loose.dtd">
6 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
7 <link><style type="text/css">
8 #main_content {max-width: 70em}
13 <div id="main_content">
15 <h1>Linux Target for Embedded Real-Time (ERT)</h1>
18 Linux ERT target is based on <a href="http://www.mathworks.com/">MathWorks</a>' generic Unix target
19 for <a href="http://en.wikipedia.org/wiki/Simulink">Simulink</a> Embedded Coder®. It allows to compile
20 dynamic model/control system designed in Simulink to the C-code and combine it with target specific
21 support functions. The resulting executable/controller is then run model in real-time on the target system.
22 The recent version is optimized to use real-time capabilities of
23 <a href="http://rt.wiki.kernel.org/">real-time variant</a> of
24 <a href="http://en.wikipedia.org/wiki/Linux">Linux</a> kernel.
25 The control system smaplink frequencies up to 20 kHz with no losing sample per months
26 can be achieved by carefully selected x86 or embedded system (see <a href="http://www.osadl.org/">OSADL</a>
27 <a href="http://www.osadl.org/Quality-assurance-at-the-OSADL-QA-Farm.osadl-services-qa.0.html">Quality Assurance Farm</a>).
30 <h2>Page Contents</h2>
33 <li><a href="#news">Recent News</a></li>
34 <li><a href="#prjbackground">Project Background</a></li>
35 <li><a href="#linuxnative">Native Linux Real-Time and I/O Cards Support</a></li>
36 <li><a href="#download">Source Code and Download</a></li>
37 <li><a href="#contributors">Project Contributors</a></li>
40 <h2 id="news">Recent News</h2>
44 Linux ERT at Embedded World exhibition - 25 till 27 February 2014 - Visit
45 <a href="http://www.ask-embedded-world.de/index.php5?id=342793&Action=showCompany">DCE CTU</a>
46 developers and researchers at the OSADL booth (hall 5 booth 276).
50 <h2 id="prjbackground">Project Background</h2>
53 The Linux ERT has been initially designed at <a href="#dce">DCE of CTU</a> to develop and realize dynamic environment model
54 for hardware (airplane) in the loop testing of fly-by-wire system at <a href="http://www.aero.cz/en">AERO Vodochody a.s.</a>.
55 Simulink has been run on Windows host computer initially and code generated for GNU/Linux embedded target
56 system was compiled under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a> environment and then uploaded
57 to PowerPC based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a> computer.
58 The target computer was equipped by two CAN interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
59 blockset based on <a href="http://canfestival.org/">CANfestival</a> is used to control distributed
60 servosystem used to simulate fly-by-wire system load. Simulink CANopen blockset integrates a
61 <a href="http://en.wikipedia.org/wiki/Socketcan">SocketCAN</a> driver configuration and CAN messages
62 processing support to the generated code and enables the user to develop distributed embedded
63 control applications with CANopen communication.</p>
65 <p><img width=600 src="LinTarget.JPG" alt="Original code generation workflow"></p>
67 <p><img width=600 src="CANopenExample.JPG" alt="Model including node controlled over CANopen"></p>
69 <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>
71 <h2 id="linuxnative">Native Linux Real-Time and I/O Cards Support</h2>
73 <p>The Linux ERT target is updated and optimized to use Linux kernel timing mechanism with lower
74 maximal latencies now. Matlab/Simulink run on GNU/Linux desktop system as development system is supported now.
75 More information about update can be found on respective <a href="http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/">Michal Sojka's blog page</a>.
76 UIO driver and blockset has been implemented to support
77 <a href="http://www.humusoft.com/produkty/datacq/">Humusoft data acquisition cards</a> (MF624 for now).</p>
79 <p>UIO (User Space I/O) driver for the MF624 card is already included in Linux kernel mainline. More
80 documentation for this driver can be found in Rostislav Lisový master thesis and on <a href="http://rtime.felk.cvut.cz/hw/index.php/Humusoft_MF6xx"></a>DCE HW Wiki page</p>
82 <h2 id="download">Source Code and Download</h2>
85 <dt>Lintarget at Source Forge</dt>
86 <dd><a href="http://sourceforge.net/projects/lintarget/">http://sourceforge.net/projects/lintarget/</a>
87 <br>project download area contains original Linux target code for CANopen based distributed system
89 <dt>Updated Linux ERT core support</dt>
90 <dd><a href="http://rtime.felk.cvut.cz/gitweb/ert_linux.git">http://rtime.felk.cvut.cz/gitweb/ert_linux.git</a>
91 <br>version updated for real-time and native GNU/Linux host/target system setup
93 <dt>Humusoft MF624 card support blockset</dt>
94 <dd><a href="http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git">http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git</a>
95 <br>initial version of blockset supporting analog and digital input/output, IRC, PWM and PWM measurement for MF624 cards.
100 <h2 id="contributors">Project Contributors</h2>
103 <dt>Michal Sojka</dt>
104 <dd><a href="mailto:sojkam1@fel.cvut.cz">sojkam1@fel.cvut.cz</a> ,
105 homepage <a href="http://rtime.felk.cvut.cz/~sojka/">http://rtime.felk.cvut.cz/~sojka/</a>
106 <br>teacher, researcher and developer at DCE CTU.
109 <dd><a href="mailto:pisa@cmp.felk.cvut.cz">pisa@cmp.felk.cvut.cz</a> ,
110 homepage <a href="http://cmp.felk.cvut.cz/~pisa/">http://cmp.felk.cvut.cz/~pisa/</a>
111 <br>teacher, researcher and developer at DCE CTU.
113 <dt>Rostislav Lisový</dt>
114 <dd><a href="mailto:lisovros@fel.cvut.cz">lisovros@fel.cvut.cz</a>
115 <br>former CTU master study programe student, Linux related projects developer at DCE now.
117 <dt>Libor Waszniowski</dt>
118 <dd><a href="mailto:xwasznio@fel.cvut.cz">xwasznio@fel.cvut.cz</a>
119 <br>the former DCE CTU researcher responsible for project founding and delivery to AERO Vodochody.
121 <dt>Lukáš Hamáček</dt>
122 <dd><a href="mailto:xwasznio@fel.cvut.cz">xwasznio@fel.cvut.cz</a>
123 <br>former CTU master study programe student.
128 <p id="dce"><b>DCE</b> - <a href="http://dce.fel.cvut.cz/" target="_blank">Department of Control Engineering</a> -
129 <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>
131 <h2>Acknowledgement:</h2>
133 <p>This work was supported by Ministry of Industry and Trade of the Czech Republic under Project
134 FT—TA3/044 during period of 2006 to 2009 years.</p>