<div id="main_content">
<p>
-Linux ERT target is based on <a href="http://www.mathworks.com/">MathWorks</a>' generic Unix target
-for <a href="http://en.wikipedia.org/wiki/Simulink">Simulink</a> Embedded Coder®. It allows to compile
-dynamic model/control system designed in Simulink to the C-code and combine it with target specific
-support functions. The resulting executable/controller is then run model in real-time on the target system.
-The recent version is optimized to use real-time capabilities of
-<a href="http://rt.wiki.kernel.org/">real-time variant</a> of
-<a href="http://en.wikipedia.org/wiki/Linux">Linux</a> kernel.
-The control system sampling frequencies up to 20 kHz with no losing sample per months
-can be achieved by carefully selected x86 or embedded system (see <a href="http://www.osadl.org/">OSADL</a>
-<a href="http://www.osadl.org/Quality-assurance-at-the-OSADL-QA-Farm.osadl-services-qa.0.html">Quality Assurance Farm</a>).
+
+Linux ERT target
+for <a href="http://www.mathworks.com/">MathWorks</a>' <a href="http://en.wikipedia.org/wiki/Simulink">Simulink</a>®
+Embedded Coder® allows to compile a model of designed control system
+to the C-code and combine it with target specific support functions.
+The resulting executable/controller can be run in real-time on the
+target Linux system. The running dynamic system can be augmented via
+tunable block parameters in the Simulink model and data can be
+acquired and visualized with Simulink scopes.
</p>
+<p>
+ Linux ERT target uses heavily real-time capabilities
+ of <abbr title="PREEMPT RT">real-time</abbr> variant of the Linux
+ kernel. The resulting control system supports sampling frequencies
+ up to 20 kHz.</p>
+
<div>
<b>Page Contents</b>
<ul>
<li>
-Linux ERT at Embedded World exhibition - 25 till 27 February 2014 - Visit
+ We will present the ert_linux project
+ at <a href="http://www.amper.cz/en/online-catalog/list-of-exhibitors.html/e9595_0-fakulta-elektrotechnicka-cvut-v-praze">Amper
+ exhibition</a> from 18th to 21st March 2014 in Brno, Czech Republic.</li>
+<li>
+Linux ERT at Embedded World exhibition – 25 until 27 February 2014 - Visit
<a href="http://www.ask-embedded-world.de/index.php5?id=342793&Action=showCompany">DCE CTU</a>
developers and researchers at the OSADL booth (hall 5 booth 276).
</li>
<h2 id="prjbackground">Project Background</h2>
<p>
-The Linux ERT has been initially designed at <a href="#dce">DCE of CTU</a> to develop and realize dynamic environment model
-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>.
-Simulink has been run on Windows host computer initially and code generated for GNU/Linux embedded target
-system was compiled under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a> environment and then uploaded
-to PowerPC based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a> computer.
-The target computer was equipped by two CAN interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
-blockset based on <a href="http://canfestival.org/">CANfestival</a> is used to control distributed
-servosystem used to simulate fly-by-wire system load. Simulink CANopen blockset integrates a
+The Linux ERT has been initially developed at <a href="#dce">DCE of
+CTU</a> in order to create a dynamic environment model for hardware
+(airplane) in the loop testing of a fly-by-wire system
+at <a href="http://www.aero.cz/en">AERO Vodochody a.s.</a>. Simulink
+has been run on Windows host computer initially and code generated for
+GNU/Linux embedded target system was compiled
+under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a>
+environment and then uploaded to PowerPC
+based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a>
+computer. The target computer was equipped with two CAN
+interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
+blockset based on <a href="http://canfestival.org/">CANfestival</a>
+project was used to control distributed servosystem used to simulate
+fly-by-wire system load. Simulink CANopen blockset integrates a
<a href="http://en.wikipedia.org/wiki/Socketcan">SocketCAN</a> driver configuration and CAN messages
processing support to the generated code and enables the user to develop distributed embedded
control applications with CANopen communication.</p>
<h2 id="linuxnative">Native Linux Real-Time and I/O Cards Support</h2>
-<p>The Linux ERT target is updated and optimized to use Linux kernel timing mechanism with lower
-maximal latencies now. Matlab/Simulink run on GNU/Linux desktop system as development system is supported now.
-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>.
-UIO driver and blockset has been implemented to support
+<p>Later the Linux ERT target was updated and optimized to use proper
+Linux kernel timing mechanism with lower maximal latencies.
+Matlab/Simulink ruining on GNU/Linux desktop system as development
+system is supported now. More information about the update can be
+found in <a href="http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/">Michal
+Sojka's blog post</a>. UIO driver and blockset has been implemented to
+support
<a href="http://www.humusoft.com/produkty/datacq/">Humusoft data acquisition cards</a> (MF624 for now).</p>
-<p>UIO (User Space I/O) driver for the MF624 card is already included in Linux kernel mainline. More
-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>
+<p><abbr title="User Space I/O">UIO</abbr> driver for the MF624 card
+is already included in the Linux mainline kernel. More documentation
+for this driver can be found
+on <a href="http://rtime.felk.cvut.cz/hw/index.php/Humusoft_MF6xx">DCE
+HW Wiki page</a>.</p>
<h2 id="download">Source Code and Download</h2>
<dl>
<dt>Lintarget at Source Forge</dt>
- <dd><a href="http://sourceforge.net/projects/lintarget/">http://sourceforge.net/projects/lintarget/</a>
- <br>project download area contains original Linux target code for CANopen based distributed system
+ <dd><a href="https://sourceforge.net/projects/lintarget/files/">project download area</a>
+ contains released versions of the Linux target and CANopen based distributed system
</dd>
- <dt>Updated Linux ERT core support</dt>
+ <dt>Linux ERT source code repository</dt>
<dd><a href="http://rtime.felk.cvut.cz/gitweb/ert_linux.git">http://rtime.felk.cvut.cz/gitweb/ert_linux.git</a>
<br>version updated for real-time and native GNU/Linux host/target system setup
</dd>
</dl>
-<p id="dce"><b>DCE</b> - <a href="http://dce.fel.cvut.cz/" target="_blank">Department of Control Engineering</a> -
+<p id="dce"><b>DCE</b> – <a href="http://dce.fel.cvut.cz/" target="_blank">Department of Control Engineering</a> –
<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>
<h2>Acknowledgment</h2>
projects / ert_linux_web.git / commitdiff