From: Michal Sojka Date: Fri, 12 Jun 2015 14:31:29 +0000 (+0200) Subject: Update some information X-Git-Url: http://rtime.felk.cvut.cz/gitweb/ert_linux_web.git/commitdiff_plain/647251ce32007d28b047d9ad7862e08603655804 Update some information --- diff --git a/index.mdwn b/index.mdwn index 214dc76..9fc3fd7 100644 --- a/index.mdwn +++ b/index.mdwn @@ -13,7 +13,14 @@ visualized with Simulink scopes. Linux ERT target uses heavily real-time capabilities of [real-time variant of the Linux kernel](https://rt.wiki.kernel.org/index.php/CONFIG_PREEMPT_RT_Patch) that provides bounded maximal latencies. The resulting control system -supports sampling frequencies up to 20 kHz.

+supports sampling frequencies **up to 20 kHz**. Matlab/Simulink GUI +running on the same GNU/Linux desktop system as the generated +real-time application is supported. + +More information about current version can be found in +[Michal Sojka's blog post](http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/). + + [MathWorks]: http://www.mathworks.com/ [Simulink]: http://en.wikipedia.org/wiki/Simulink @@ -65,59 +72,50 @@ I/O and communication interface support [CAN messages sending and receiption](can_bus/index.html) under Linux are implemented. - - - - - - - - - RT-Capable Platform and Kernel -------------------- -Standard distribution Linux kernel does not guarantee bounded latencies for many operations. -The use of [real-time variant](http://rt.wiki.kernel.org/) of [Linux](http://en.wikipedia.org/wiki/Linux) -kernel is required to make system durable. This kernel variants minimizes regions -where switch to the highest priority (i.e. Linux ERT generated) task is blocked by -kernel when servicing system calls for other tasks. - -Selection of the right version of the kernel is not enough for non-disruptive -operation. Computer system hardware selection is critical as well. The system -has to provide enough computational power for compiled in blocks data evaluation -evaluation and Linux kernel services processing. Other critical disturbance sources -are hardware caused latencies and lags in a program processing by CPU. The source -can be bus systems load by other subsystems (i.e. graphic processor memory access, -peripheral DMA - SSD, SD-card, Flash controller etc.). The other critical source of -latencies in x86 based systems is [SMI](http://en.wikipedia.org/wiki/System_Management_Mode) -processing. The SMI enable and processing is under BIOS and motherboard vendor control -and this problem cannot be resolved by operating system. This means that proper -hardware selection is critical. - -A long period evaluation data of different combinations of Linux kernel version -runing on many CPU architectures and boards from many vendors is [OSADL](http://www.osadl.org/) +Standard distribution Linux kernel does not guarantee bounded +latencies for many operations. The use of +[real-time variant](http://rt.wiki.kernel.org/) of +[Linux](http://en.wikipedia.org/wiki/Linux) kernel is required to +guarantee bounded latencies. This kernel variants minimizes regions +where switch to the highest priority (e.g. Linux ERT generated) task +is blocked by kernel when servicing system calls for other tasks. + +Selection of the right version of the kernel is not enough for +non-disruptive operation. Computer system hardware selection is +critical as well. The system has to provide enough computational power +for compiled in blocks data evaluation evaluation and Linux kernel +services processing. Other critical disturbance sources are hardware +caused latencies and lags in a program processing by CPU. The source +can be bus systems load by other subsystems (i.e. graphic processor +memory access, peripheral DMA - SSD, SD-card, Flash controller etc.). +The other critical source of latencies in x86 based systems is +[SMI](http://en.wikipedia.org/wiki/System_Management_Mode) processing. +The SMI enable and processing is under BIOS and motherboard vendor +control and this problem cannot be resolved by the operating system. +This means that proper hardware selection is critical. + +A long period evaluation data of different combinations of Linux +kernel version runing on many CPU architectures and boards from many +vendors is [OSADL](http://www.osadl.org/) [Quality Assurance Farm](http://www.osadl.org/Quality-assurance-at-the-OSADL-QA-Farm.osadl-services-qa.0.html). -According to these track records carefully selected x86 or embedded GNU/Linux system can run -real-time tasks with sampling frequencies up to 20 kHz with no losing sample per months. +According to these track records carefully selected x86 or embedded +GNU/Linux system can run real-time tasks with sampling frequencies up +to 20 kHz with no losing sample per months. Source Code and Download -------------------- -
-
Lintarget at Source Forge
-
[project download area](https://sourceforge.net/projects/lintarget/files/) - contains released versions of the Linux target and CANopen based distributed system -
-
Linux ERT source code repository
-
[http://rtime.felk.cvut.cz/gitweb/ert_linux.git](http://rtime.felk.cvut.cz/gitweb/ert_linux.git) -
version updated for real-time and native GNU/Linux host/target system setup -
-
Humusoft MF624 card support blockset
-
[http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git](http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git) -
initial version of blockset supporting analog and digital input/output, IRC, PWM and PWM measurement for MF624 cards. -
-
+- [Download area at Sourceforge](https://sourceforge.net/projects/lintarget/files/) + contains released versions of the Linux target and CANopen based + distributed system +- [Linux ERT source code repository](http://rtime.felk.cvut.cz/gitweb/ert_linux.git) + (development version). +- [Humusoft MF624 card support blockset](http://rtime.felk.cvut.cz/gitweb/mf624-simulink.git) +
Initial version of blockset supporting analog and digital + input/output, IRC, PWM and PWM measurement for MF624 cards. Project Background @@ -145,7 +143,7 @@ applications with CANopen communication.

[[!img LinTarget.JPG size=300x alt="Original code generation workflow"]] [[!img CANopenExample.JPG size=300x alt="Model including node controlled over CANopen"]] -Lukáš Hamáček, “RTW target for Linux with CANopen support”, Master Thesis, Prague 2009. ([Pdf](dp_2009_hamacek_lukas.pdf)) +Lukáš Hamáček, “*RTW target for Linux with CANopen support*”, Master Thesis, Prague 2009. ([Pdf](dp_2009_hamacek_lukas.pdf)) Systems Controlled Linux Target for Embedded Coder --------------------