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97 \includegraphics[width=0.35\textwidth]{images/cvut.pdf}\\[1cm]
98 \textsc{\LARGE Czech Technical University in Prague}\\[1.5cm]
104 {\huge \bfseries Simulink code generation target for Texas~Instruments
112 Carlos \textsc{Jenkins}\\
113 Michal \textsc{Horn}\\
114 Michal \textsc{Sojka}\\[\baselineskip]
127 \section*{Revision history}
129 \noindent\begin{tabularx}{\linewidth}{|l|l|l|X|}
130 \rowcolor[gray]{0.9}\hline
131 Revision & Date & Author(s) & Comments \\ \hline
133 0.1 beta & 2014-12-04 & Sojka, Horn & Initial version \\ \hline
135 0.2 & 2015-02-16 & Sojka, Horn & Improvements, clarifications,
138 0.3 & 2015-03-31 & Sojka, Horn & Added sections
139 \ref{sec-changing-os}, \ref{sec:adding-new-funct} and \ref{sec:mult-single-thre}, minor updates. \\ \hline
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171 \chapter{Introduction}
172 \label{chap-introduction}
174 This text documents software part of Rapid Prototyping Platform (RPP)
175 project for Texas Instruments RM48 safety microcontroller. The
176 software consists of code generation target for Simulink Embedded
177 Coder, a low-level run-time C library and a tool for interactive
178 testing of hardware and software functionality.
180 Originally, the RPP project was created for TMS570 microcontroller and
181 the port to RM48 was derived from it under a contract with Eaton
184 The document contains step-by-step instructions for installation of
185 development tools, information about Simulink Coder configuration,
186 describes how to create new models as well as how to download the
187 resulting firmware to the hardware. It can also be used as a reference
188 for the testing tool, Matlab Simulink blocks and RPP Matlab Simulink
189 Code generator. Additionally, an overall description of the used
190 hardware platform and the architecture of included software is
194 \label{sec-background}
196 The Rapid Prototyping Platform is an control unit based on TMDSRM48HDK
197 development kit from Texas Instruments. Cental to the kit is the
198 RM48L952 MCU -- an ARM Cortex R4 based microcontroller developed by
199 Texas Instruments. This MCU contains several protective mechanisms
200 (two cores in lockstep, error correction mechanisms for SRAM and Flash
201 memory, voltage monitoring, etc.) to fulfill the requirements for
202 safety critical applications.
203 See~\cite{rm48xtechnicalreferencemanual2013} for details.
205 In order to develop non-trivial applications for the RPP, an operating
206 system is necessary. The RPP is based on FreeRTOS -- a simple
207 opensource real-time operating system kernel. The FreeRTOS provides an
208 API for creating and managing and scheduling multiple tasks, memory
209 manager, semaphores, queues, mutexes, timers and a few of other
210 features which can be used in the applications.
211 See~\cite{usingthefreertos2009} for more details.
213 Even with the operating system it is quite hard and non-intuitive to
214 manipulate the hardware directly. That is the point when abstraction
215 comes into the play. The RPP software is made of several layers
216 implementing, from the bottom to the top, low-level device drivers,
217 hardware abstraction for common functionality on different hardware
218 and an API which is easy to use in applications. The operating system
219 and the basic software layers, can be compiled as a library and easily
220 used in any project. More details about the library can be found in
221 Chapter~\ref{chap-c-support-library} and in~\cite{michalhorn2013}.
223 Because human beings make mistakes and in safety critical applications
224 any mistake can cause damage, loos of money or in the worst case even
225 death of other people, the area for making mistakes has to be as small
226 as possible. An approach called Model-based development
227 \cite{modelbasedwiki2013} has been introduced to reduce the
228 probability of making mistakes. In model-based development, the
229 applications are designed at higher level from models and the
230 functionality of the models can be simulated in a computer before the
231 final application/hardware is finished. This allows to discover
232 potential errors earlier in the development process.
234 One commonly used tool-chain for model-based development is
235 Matlab/Simulink. In Simulink the application is developed as a model
236 made of interconnected blocks. Every block implements some
237 functionality. For example one block reads a value from an
238 analog-to-digital converter and provides the value as an input to
239 another block. This block can implement some clever algorithm and its
240 output is passed to another block, which sends the computed value as a
241 message over CAN bus to some other MCU. Such a model can be simulated
242 and tested even before the real hardware is available by replacinf the
243 input and output blocks with simulated ones. Once the hardware is
244 ready, C code is automatically generated from the model by a Simulink
245 Coder. The code is then compiled by the MCU compatible compiler and
246 downloaded to the MCU Flash memory on the device. Because every block
247 and code generated from the block has to pass a series of tests during
248 their development, the area for making mistakes during the application
249 development has been significantly reduced and developers can focus on
250 the application instead of the hardware and control software
251 implementation. More information about code generation can be found in
252 Chapter \ref{chap-simulink-coder-target}. For information about Matlab
253 Simulink, Embedded Coder and Simulink Coder, refer to
254 \cite{embeddedcoderreference2013, ebmeddedcoderusersguide2013,
255 simulinkcoderreference2013, targetlanguagecompiler2013,
256 simulinkcoderusersguide2013, simulinkdevelopingsfunctions2013}.
258 \section{Hardware description}
259 \label{sec-hardware-description}
261 This section provides a brief description of the Texas Instrument
262 TMDSRM48HDK development kit. For a more detailed information refer to
263 \cite{rm48hdkusersguide2013}. The kit is depicted in
264 Figure~\ref{fig-board_photo}.
266 \begin{figure}\begin{center}
268 \includegraphics[width=300px]{images/board.png}
269 \caption{The TMDSRM48HDK kit \cite[p. 8]{rm48hdkusersguide2013}}
270 \label{fig-board_photo}
271 \end{center}\end{figure}
273 Only a subset of peripherals available on the kit is currently
274 supported by the RPP software. A block diagram in
275 Figure~\ref{fig-blocks} ilustrates the supported peripherals and their
276 connection to the MCU, expansion connectors and other components on
277 the development kit. For pinout description of the implemented
278 peripherals refer the RM48HDK User's Guide
279 \cite{rm48hdkusersguide2013}. The main features of supported
280 peripherals are provided in the following subsections.
282 \begin{figure}\begin{center}
284 \includegraphics[width=400px]{images/blocks.png}
285 \caption{Block diagram of supported peripherals}
287 \end{center}\end{figure}
289 \subsection{Digital Inputs and Outputs (DIN and DOUT)}
290 \label{par-digital-inputs-outputs}
292 \item 46 pins available on Expansion connector J11.
293 \item 8 pins available on GIOA
294 \item 8 pins available on GIOB
295 \item 30 pins available on NHET1. Pins NHET1 6 and NHET1 13 are disabled.
296 \item All the pins are configurable as inputs and outputs with different modes:
298 \item Push/Pull or Open Drain for Output configuration.
299 \item Pull up, Pull down or tri-stated for Input configuration.
301 \item Some of the pins are connected to LEDs or to a button. See
302 Figure~\ref{fig-blocks} or refer to~\cite{rm48hdkusersguide2013}.
305 \subsection{Analog Input (ADC)}
306 \label{par-analog-input}
307 \vbox{% Keep this on the same page
309 \item 16 channels available on the Expansion connector J9.
310 \item Range for 0 -- 5 Volts.
311 \item 12 bits resolution.
314 \subsection{CAN bus (CAN)}
317 \item Up to three CAN ports
319 \item 2 ports equipped with physical layer CAN transciever
320 connected to J2 and J3 connectors.
321 \item All 3 ports available as link-level interface on the
322 Expansion connector J11.
325 \item Recovery from errors.
326 \item Detection of network errors.
329 \subsection{Serial Communication Interface (SCI)}
332 \item 1 port available on connector J7.
333 \item Configurable baud rate. Tested with 9600 and 115200 bps.
334 \item RS232 compatible.
337 \section{Software architecture}
338 \label{sec-software-architecture}
340 The core of the RPP software is the so called RPP Library. This
341 library is conceptualy structured into 5 layers, depicted in
342 Figure~\ref{fig-layers}. The architecture design was driven by the
343 following guidelines:
346 \item Top-down dependency only. No lower layer depends on anything from
348 % \item 1-1 layer dependency only. The top layer depends
349 % exclusively on the bottom layer, not on any lower level layer (except for a
350 % couple of exceptions).
351 \item Each layer should provide a unified layer interface
352 (\texttt{rpp.h}, \texttt{drv.h}, \texttt {hal.h}, \texttt{sys.h} and
353 \texttt{os.h}), so that top layers depends on the layer interface
354 and not on individual elements from that layer.
360 \includegraphics[width=250px]{images/layers.pdf}
361 \caption{The RPP library layers.}
366 As a consequence of this division the source code files and interface files are
367 placed in private directories like \texttt{drv/din.h}. With this organization
368 user applications only needs to include the top layer interface files (for
369 example \texttt{rpp/rpp\_can.h}) to be able to use the selected library API.
371 The rest of the section provides basic description of each layer.
373 \subsection{Operating System layer}
374 \label{sec-operating-system-layer}
375 This is an interchangeable operating system layer, containing the
376 FreeRTOS source files. The system can be easily replaced by another
377 version. For example it is possible to compile the RPP library for
378 Linux (using POSIX version of the FreeRTOS), which can be desirable
379 for some testing. The source files can be found in the
380 \texttt{$\langle$rpp\_lib$\rangle$/os} folder.
382 The following FreeRTOS versions are distributed:
384 \item[6.0.4\_posix] POSIX version, usable for compilation of the library
386 \item[7.0.2] Preferred version of the FreeRTOS, distributed by
387 Texas Instruments. This version has been tested and is used in the current
388 version of the library.
389 \item[7.4.0] Newest version distributed by the Texas Instruments.
390 \item[7.4.2] Newer version available from FreeRTOS pages. Slightly
391 modified to run on RM48 MCU.
395 Both 7.4.x version were tested and work, but the testing was not so
396 extensive as with the used 7.0.2 version.
398 \subsection{System Layer}
399 \label{sec-system-layer}
400 This layer contains system files with data types definitions, clock definitions,
401 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
402 code for controlling some of the MCU peripherals. The source files can be found
403 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
404 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
407 Large part of this layer was generated by the HalCoGen tool (see
408 Section~\ref{sec-halcogen}).
410 \subsection{HAL abstraction layer}
411 \label{sec-hal-abstraction-layer}
412 Hardware Abstraction Layer (HAL) provides an abstraction over the real
413 hardware. For example imagine an IO port with 8 pins. First four pins
414 are connected directly to the GPIO pins on the MCU, another four pins
415 are connected to an external integrated circuit, communicating with
416 the MCU via SPI. This layer allows to control the IO pins
417 independently of how that are connected to the MCU, providing a single
420 Note that this functionality is not needed in the current version of
421 for TMDSRM48HDK, because all IOs are controlled directly by GPIO pins.
423 As a result, the higher layers do not have to know anything about the
424 wiring of the peripherals, they can just call read, write or configure
425 function with a pin name as a parameter and the HAL handles all the
428 The source files can be found in
429 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/hal} and the header files can
430 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/hal} folder.
432 \subsection{Drivers layer}
433 \label{sec-drivers-layer}
434 The Drivers layer contains code for controlling the RPP peripherals.
435 Typically, it contains code implementing IRQ handling, software
436 queues, management threads, etc. The layer benefits from the lower
437 layers thus it is not too low level, but still there are some
438 peripherals like ADC, which need some special procedure for
439 initialization and running, that would not be very intuitive for the
442 The source files can be found in
443 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
444 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
446 \subsection{RPP Layer}
447 \label{sec-rpp-layer}
448 The RPP Layer is the highest layer of the library. It provides an easy
449 to use set of functions for every peripheral and requires only basic
450 knowledge about them. For example, to use the ADC, the user can just
451 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
452 Driver layer functions to initialize the hardware and software.
454 The source files can be found in
455 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
456 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
458 \section{Document structure}
459 \label{sec-document-structure}
460 The structure of this document is as follows:
461 Chapter~\ref{chap-getting-started} gets you started using the RPP
462 software. Chapter~\ref{chap-c-support-library} describes the RPP
463 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
464 code generation target and finally
465 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
466 testing of the RPP functionality.
468 \chapter{Getting started}
469 \label{chap-getting-started}
471 \section{Software requirements}
472 \label{sec-software-requirements}
473 The RPP software stack can be used on Windows and Linux platforms. The
474 following subsections mention the recommended versions of the required
475 software tools/packages.
477 \subsection{Linux environment}
478 \label{sec-linux-environment}
480 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
482 \item Kernel version 3.11.0-12.
483 \item GCC version 4.8.1
484 \item GtkTerm 0.99.7-rc1
485 \item TI Code Composer Studio 5.5.0.00077
486 \item Matlab 2013b 64b with Embedded Coder
487 \item HalCoGen 4.00 (optionally)
488 \item Uncrustify 0.59 (optionally, see Section \ref{sec-compilation})
489 \item Doxygen 1.8.4 (optionally, see Section \ref{sec-compiling-api-documentation})
490 \item Git 1.7.10.4 (optionally)
493 \subsection{Windows environment}
494 \label{sec-windows-environment}
496 \item Windows 7 Enterprise 64b Service Pack 1.
497 \item Microsoft Windows SDK v7.1
498 \item Bray Terminal v1.9b
499 \item TI Code Composer Studio 5.5.0.00077
500 \item Matlab 2013b 64b with Embedded Coder
501 \item HalCoGen 4.00 (optionally)
502 \item Doxygen 1.8.4 (optionally, see Section \ref{sec-compiling-api-documentation})
503 \item Uncrustify 0.59 (optionally, see Section \ref{sec-compilation})
504 \item Git 1.9.4.msysgit.2 (optionally)
507 \section{Software tools}
508 \label{sec-software-and-tools}
510 This section covers tool which are needed or recommended for work with
513 \subsection{TI Code Composer Studio}
515 Code Composer Studio (CCS) is the official Integrated Development Environment
516 (IDE) for developing applications for Texas Instruments embedded processors. CCS
517 is multiplatform software based on
518 Eclipse open source IDE.
520 CCS includes Texas Instruments Code Generation Tools (CGT)
521 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
522 (compiler, linker, etc). Simulink code generation target requires the
523 CGT to be available in the system, and thus, even if no library
524 development will be done or the IDE is not going to be used CCS is
527 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
528 for CGT archiver in \cite{armassemblylanguagetools2012}.
530 \subsubsection{Installation on Linux}
531 \label{sec-installation-on-linux}
532 Download CCS for Linux from:\\
533 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
535 Once downloaded, add executable permission to the installation file
536 and launch the installation by executing it. Installation must be done
537 by the root user in order to install a driver set.
539 \lstset{language=bash}
541 chmod +x ccs_setup_5.5.0.00077.bin
542 sudo ./ccs_setup_5.5.0.00077.bin
545 After installation the application can be executed with:
547 \lstset{language=bash}
549 cd <ccs>/ccsv5/eclipse/
553 The first launch on 64bits systems might fail. This can happen because CCS5 is
554 a 32 bit application and thus requires 32 bit libraries. They can be
557 \lstset{language=bash}
559 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
562 If the application crashes with a segmentation fault edit file:
564 \lstset{language=bash}
566 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
569 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
571 \subsubsection{Installation on Windows}
572 \label{sec-installation-on-windows}
573 Installation for Windows is more straightforward than the installation
574 procedure for Linux. Download CCS for Windows from:\\
575 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
577 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
579 \subsubsection{First launch}
580 \label{sec-first-launch}
581 If no other licence is available, choose ``FREE License -- for use
582 with XDS100 JTAG Emulators'' from the licensing options. Code download
583 for the board uses the XDS100 hardware.
585 \subsection{Matlab/Simulink}
586 \label{sec-matlab-simulink}
587 Matlab Simulink is a set of tools, runtime environment and development
588 environment for Model--Based \cite{modelbasedwiki2013} applications development,
589 simulations and generation code for target platforms. Supported Matlab Simulink
590 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
591 necessary to be able to generate code from Simulink models, containing RPP blocks.
593 \subsection{HalCoGen}
595 HalCoGen (HAL Code Generator) is a tool for graphical configuration of peripherals, clocks, interrupts and other MCU parameters. It generates C code which can be imported to the Code Composer Studio.
597 The tool is available for Windows at
599 \url{http://www.ti.com/tool/halcogen?keyMatch=halcogen&tisearch=Search-EN}
602 The HalCoGen has been used in early development stage of the RPP
603 project to generate the base code for some of the peripheral. The
604 trend is to not to use the HalCoGen any more, because the generated
605 code is not reliable enough for safety critical applications. Anyway it is
606 sometimes helpful to use it as a reference.
608 The HalCoGen is distributed for Windows only, but can be run on Linux
609 under Wine (tested with Wine version 1.6.2).
611 \subsection{GtkTerm and Bray Terminal}
612 \label{sec-gtkterm-bray-terminal}
613 Most of the interaction with the board is done through a RS-232 serial
614 connection. The terminal software used for communication is called GtkTerm for
615 Linux and Bray terminal for Windows.
617 To install GtkTerm execute:
619 \lstset{language=bash}
621 sudo apt-get install gtkterm
624 The Bray Terminal does not require any installation and the executable file is
626 \url{https://sites.google.com/site/terminalbpp/}
628 \subsection{C Compiler}
629 \label{sec-c-compiler}
630 A C language compiler has to be available on the development system to be able to
631 compile Matlab Simulink blocks S-functions.
633 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
636 \lstset{language=bash}
638 sudo apt-get install gcc
641 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
642 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
644 \section{Project installation}
645 \label{sec-project-installation}
646 The RPP software is distributed in three packages and a standalone pdf
647 file containing this documentation. Every package is named like
648 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
652 \item[rpp-lib] Contains the source code of the RPP library, described
653 in Chapter \ref{chap-c-support-library}. If you want to make any
654 changes in the drivers or RPP API, this library has to be compiled
655 and linked with applications in the other two packages. The library compile
656 procedure can be found in Section \ref{sec-compilation}.
657 \item[rpp-simulink] Contains the source code of Matlab Simulink
658 blocks, demo models and scripts for downloading the generated
659 firmware to the target from Matlab/Simulink. Details can be
660 found in Chapter \ref{chap-simulink-coder-target}.
662 The package also contains the binary of the RPP Library and all its
663 headers and other files necessary for building and downloading the
665 \item[rpp-test-sw] Contains an application for interactive testing and
666 control of the RPP board over the serial interface. Details can be
667 found in Chapter~\ref{chap-rpp-test-software}.
669 The package also contains the binary of the RPP Library and all
670 headers and other files necessary for building and downloading the
674 The following sections describe how to start working with individual
678 \label{sec-rpp-lib-installation}
680 This section describes how to open the rpp-lib project in Code
681 Composer Studio and how to use the resulting static library in an
682 application. This is only necessary if you need to modify the library
686 \item Unzip the \texttt{rpp-lib-version.zip} file.
687 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
688 \item Import the rpp-lib project as described in
689 Section~\ref{sec-openning-of-existing-project}.
690 \item Compile the static library using the procedure from Section
691 \ref{sec-compilation}. The compiled library \texttt{rpp-lib.lib}
692 will appear in the project root directory.
693 \item Either copy the compiled library and the content of the
694 \texttt{rpp/include} directory to the application, where you
695 want to use it or use the library in place, as described in
696 Section~\ref{sec:creating-new-project}.
698 \item In the rpp-simulink application the library is located in
699 the \texttt{rpp/lib} folder.
700 \item In the rpp-test-sw application the library is located in
701 the \texttt{rpp-lib} folder.
705 \subsection{rpp-simulink}
706 \label{sec-rpp-simulink-installation}
707 This section describes how to install the rpp-simulink project, which
708 is needed to try the demo models or to build your own models that use
712 \item Unzip the \texttt{rpp-simulink-version.zip} file.
713 \item Follow the procedure from Section
714 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
715 Simulink for the RPP project.
716 \item Follow the procedure from Section \ref{sec-crating-new-model}
717 for instructions about creating your own model which will use the
718 RPP Simulink blocks or follow the instructions in
719 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
722 \subsection{rpp-test-sw}
723 \label{sec-test-sw-installation}
724 This section describes how to install and run the application that
725 allows you to interactively control the RPP hardware. This can be
726 useful, for example, to test your modifications of the RPP library.
729 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
730 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
731 \item Follow the procedure for opening the projects in CCS in
732 Section \ref{sec-openning-of-existing-project} and open both
733 \texttt{rpp-lib} and \texttt{rpp-test-sw} projects.
734 \item Right click on the \texttt{rpp-test-sw} project in the
735 \textsc{Project Explorer} and select \textsc{Build Project}.
736 \item Follow the instructions in
737 Section~\ref{sec-running-software-on-hw} to download, debug and
738 run the software on the target hardware. If CCS asks you whether
739 to proceed with the detected errors in \texttt{rpp-lib} project.
740 Ignore them and click the \textsc{Proceed} button to continue.
743 \section{Code Composer Studio usage}
744 \label{sec-code-composerpstudio-usage}
746 \subsection{Opening of existing project}
747 \label{sec-openning-of-existing-project}
748 The procedure for opening a project is similar to opening a project in
749 the standard Eclipse IDE.
752 \item Launch Code Composer Studio
753 \item Select \textsc{File$\rightarrow$Import}
754 \item In the dialog window select \textsc{Code Composer
755 Studio$\rightarrow$Existing CCS Eclipse project} as an import
756 source (see Figure \ref{fig-import-project}).
757 \item In the next dialog window click on \textsc{Browse} button
758 and find the root directory of the project.
759 \item Select the requested project in the \textsc{Discovered
760 project} section so that the result looks like in Figure
761 \ref{fig-select-project}.
762 \item Click the \textsc{Finish} button.
765 \begin{figure}[H]\begin{center}
766 \includegraphics[width=350px]{images/import_project.png}
767 \caption{Import project dialog}
768 \label{fig-import-project}
769 \end{center}\end{figure}
771 \begin{figure}[H]\begin{center}
772 \includegraphics[width=350px]{images/select_project.png}
773 \caption{Select project dialog}
774 \label{fig-select-project}
775 \end{center}\end{figure}
778 \subsection{Creating new project}
779 \label{sec:creating-new-project}
780 Follow these steps to create an application for RM48 MCU compiled with
784 \item Create a new empty CCS project. Select RM48L952 device, XDS100v2
785 connection and set Linker command file to
786 \texttt{rpp-lib/rpp/RM48L952FlashLnk.cmd}.
788 \noindent\includegraphics[scale=0.45]{images/base_1.png}
790 \item In \textsc{Project Explorer}, create normal folders
791 named \texttt{include} and \texttt{src}.
793 \item If you use Git version control system, add \texttt{.gitignore}
794 file with the following content to the root of that project:
803 \item In project \textsc{Properties}, add new variable of type
804 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
808 \noindent\includegraphics[scale=.45]{images/base_2.png}
810 \item Configure the compiler \#include search path to contain
811 project's \texttt{include} directory, \penalty-100
812 \texttt{\$\{RPP\_LIB\_ROOT\}/os/7.0.2\_rm48/include} and
813 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
815 \includegraphics[scale=.43]{images/base_5.png}
818 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
819 linked libraries before the runtime support library
820 (\texttt{rtsv7R4\_T\_le\_v3D16\_eabi.lib}).
822 \noindent\includegraphics[scale=.45]{images/base_3.png}
824 \item Configure the compiler to allow GCC extensions.
826 \noindent\includegraphics[scale=.45]{images/base_6.png}
829 \item Create \texttt{main.c} file with the following content:
830 \begin{lstlisting}[language=C]
836 rpp_sci_printf("Hello world\n");
837 vTaskStartScheduler();
838 return 0; /* not reached */
841 void vApplicationMallocFailedHook()
843 void vApplicationStackOverflowHook()
847 \item Compile the application by e.g. \textsc{Project $\rightarrow$
849 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
850 application will be downloaded to the processor and run. A
851 breakpoint is automatically placed at \texttt{main()} entry. To
852 continue executing the application select \textsc{Run} $\rightarrow$
854 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
855 that the linker script selected in step 1 is not excluded from the build.
856 You can do this by right clicking on the file \texttt{RM48L952FlashLnk.cmd}
857 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
858 item. The Code Composer Studio sometimes automaticaly excludes this file from
859 the build process when creating the new project.
861 % \item If not already created for another project, create new target
862 % configuration. Select \textsc{Windows $\rightarrow$ Show View
863 % $\rightarrow$ Target Configurations}. In the shown window, click
864 % on \textsc{New Target Configuration} icon and configure XDS100v2
865 % connection and RM48L952 device as shown below. Click \textsc{Save},
866 % connect your board and click \textsc{Test Connection}.
869 % \includegraphics[width=\linewidth]{images/target_conf.png}
872 \item Optionally, you can change debugger configuration by selecting
873 \textsc{Run $\rightarrow$ Debug Configurations}. In the
874 \textsc{Target} tab, you can configure not to break at \texttt{main}
875 or not to erase the whole flash, but only necessary sectors (see the
878 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
883 \subsubsection{Steps to configure new POSIX application:}
884 Such an application can be used to test certain FreeRTOS features on
885 Linux and can be compiled with a native GCC compiler.
888 \item Create a new managed C project that uses Linux GCC toolchain.
889 \item Create a source folder \texttt{src}. Link all files from original
890 CCS application to this folder.
891 \item Create a normal folder \texttt{include}. Create a folder
892 \texttt{rpp} inside of it.
893 \item Add common \texttt{.gitignore} to the root of that project:
900 \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
901 repository branch root.\newline{}
902 \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
903 \item Configure compiler to include local includes, CCS application
904 includes, OS includes for POSIX and RPP includes, in that order.\newline{}
905 \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
907 \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
908 \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
909 \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
912 \subsubsection{Content of the application}
915 \item Include RPP library header file.
916 \lstset{language=c++}
921 If you want to reduce the size of the final application, you can
922 include only the headers of the needed modules. In that case, you
923 need to include two additional headers: \texttt{base.h} and, in case
924 when SCI is used for printing, \texttt{rpp/sci.h}.
926 #include "rpp/hbr.h" /* We want to use H-bridge */
927 #include <base.h> /* This is the necessary base header file of the rpp library. */
928 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
932 \item Create one or as many FreeRTOS task function definitions as
933 required. Those tasks can use functions from the RPP library. Beware
934 that currently not all RPP functions are
935 reentrant\footnote{Determining which functions are not reentrant and
936 marking them as such (or making them reentrant) is planned as
937 future work.}. \lstset{language=c++}
939 void my_task(void* p)
941 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
942 portTickType last_wake_time = xTaskGetTickCount();
944 /* Wait until next step */
945 vTaskDelayUntil(&last_wake_time, freq_ticks);
946 rpp_sci_printf((const char*)"Hello RPP.\r\n");
951 \item Create the main function that will:
953 \item Initialize the RPP board. If you have included only selected
954 modules in step 1, initialize only those modules by calling their init
956 example \texttt{rpp\_hbr\_init\(\)}.
957 \item Spawn the tasks the application requires. Refer to FreeRTOS API
959 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
961 \item Handle error when the FreeRTOS scheduler cannot be started.
963 \lstset{language=c++}
967 /* In case whole library is included: */
968 /* Initialize RPP board */
970 /* In case only selected modules are included: */
973 /* Initialize sci for printf */
975 /* Enable interrups */
979 if (xTaskCreate(my_task, (const signed char*)"my_task",
980 512, NULL, 0, NULL) != pdPASS) {
982 rpp_sci_printf((const char*)
983 "ERROR: Cannot spawn control task.\r\n"
989 /* Start the FreeRTOS Scheduler */
990 vTaskStartScheduler();
992 /* Catch scheduler start error */
994 rpp_sci_printf((const char*)
995 "ERROR: Problem allocating memory for idle task.\r\n"
1003 \item Create hook functions for FreeRTOS:
1005 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
1007 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
1010 \lstset{language=c++}
1012 #if configUSE_MALLOC_FAILED_HOOK == 1
1014 * FreeRTOS malloc() failed hook.
1016 void vApplicationMallocFailedHook(void) {
1018 rpp_sci_printf((const char*)
1019 "ERROR: manual memory allocation failed.\r\n"
1026 #if configCHECK_FOR_STACK_OVERFLOW > 0
1028 * FreeRTOS stack overflow hook.
1030 void vApplicationStackOverflowHook(xTaskHandle xTask,
1031 signed portCHAR *pcTaskName) {
1033 rpp_sci_printf((const char*)
1034 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
1046 \subsection{Downloading and running the software}
1047 \label{sec-running-software-on-hw}
1048 \subsubsection{Code Composer Studio Project}
1049 \label{sec-ccs-run-project}
1050 When the application is distributed as a CCS project, you have to open the
1051 project in the CCS as described in the Section
1052 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
1053 can be easily downloaded to the target hardware with the following procedure:
1056 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG
1058 \item Connect a USB cable to the XDS100v2 USB emulator and the
1059 development computer.
1060 \item Plug in the power supply.
1061 \item In the Code Composer Studio click on the
1062 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
1063 the download process will start. The Code Composer Studio will switch into the debug
1064 perspective, when the download is finished.
1065 \item Run the program by clicking on the \textsc{Run} button, with the
1069 \subsubsection{Binary File}
1070 \label{sec-binary-file}
1071 If the application is distributed as a binary file, without source code and CCS
1072 project files, you can download and run just the binary file by creating a new
1073 empty CCS project and configuring the debug session according to the following
1077 \item In Code Composer Studio click on
1078 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1079 \item In the dialog window, type in a project name, for example
1080 myBinaryLoad, Select \textsc{Device
1081 variant} (ARM, Cortex R, RM48L952, Texas Instruments XDS100v2 USB Emulator)
1082 and select project template to \textsc{Empty Project}. The filled dialog should
1083 look like in Figure~\ref{fig-new-empty-project}
1084 \item Click on the \textsc{Finish} button and a new empty project will
1086 \item In the \textsc{Project Explorer} right-click on the project and
1087 select \textsc{Debug as$\rightarrow$Debug configurations}.
1088 \item Click \textsc{New launch configuration} button
1089 \item Rename the New\_configuration to, for example, myConfiguration.
1090 \item Select configuration target file by clicking the \textsc{File
1091 System} button, finding and selecting the \texttt{RM48L952.ccxml} file. The result
1092 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1093 \item In the \textsc{program} pane select the binary file you want to
1094 download to the board. Click on the \textsc{File System} button,
1095 find and select the binary file. Try, for example
1096 \texttt{rpp-test-sw.out}. The result should look like in
1097 Figure~\ref{fig-debug-conf-program-diag}.
1098 \item You may also tune the target configuration like in the Section
1099 \ref{sec-target-configuration}.
1100 \item Finish the configuration by clicking on the \textsc{Apply}
1101 button and download the code by clicking on the \textsc{Debug}
1102 button. You can later invoke the download also from the
1103 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1104 create more Debug configurations and CCS empty projects as you can
1105 easily change the binary file in the Debug configuration to load a
1106 different binary file.
1109 \begin{figure}[H]\begin{center}
1110 \includegraphics[scale=.45]{images/new_empty_project.png}
1111 \caption{New empty project dialog}
1112 \label{fig-new-empty-project}
1113 \end{center}\end{figure}
1115 \begin{figure}[H]\begin{center}
1116 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1117 \caption{Debug Configuration Main dialog}
1118 \label{fig-debug-conf-main-diag}
1119 \end{center}\end{figure}
1121 \subsection{Target configuration}
1122 \label{sec-target-configuration}
1123 Default target configuration erases the whole Flash memory, before
1124 downloading the code. This takes long time and in most cases it is
1125 not necessary. You may disable this feature by the following procedure:
1127 \item Right click on the project name in the \textsc{Project Browser}
1128 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1129 \item In the dialog window select \textsc{Target} pane.
1130 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1131 \textsc{Necessary sectors only}.
1132 \item Save the configuration by clicking on the \textsc{Apply} button
1133 and close the dialog.
1136 \begin{figure}[H]\begin{center}
1137 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1138 \caption{Configuration Program dialog}
1139 \label{fig-debug-conf-program-diag}
1140 \end{center}\end{figure}
1142 \section{Matlab Simulink usage}
1143 \label{sec-matlab-simulink-usage}
1144 This section describes the basic tasks for working with the RPP code
1145 generation target for Simulink. For a more detailed description of the
1146 code generation target refer to
1147 Chapter~\ref{chap-simulink-coder-target}.
1149 \subsection{Configuring Simulink for RPP}
1150 \label{sec-configuration-simulink-for-rpp}
1151 Before any work or experiments with the RPP blocks and models, the RPP
1152 target has to be configured to be able to find the ARM cross-compiler,
1153 native C compiler and some other necessary files. Also the S-Functions
1154 of the blocks have to be compiled by the mex tool.
1156 \item Download and install Code Composer Studio CCS (see
1157 Section~\ref{sec-ti-ccs}).
1158 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1159 \item On Windows you have to tell the \texttt{mex} which C compiler to
1160 use. In the Matlab command window run the \texttt{mex -setup}
1161 command and select the native C compiler.
1163 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1166 Welcome to mex -setup. This utility will help you set up
1167 a default compiler. For a list of supported compilers, see
1168 http://www.mathworks.com/support/compilers/R2013b/win64.html
1170 Please choose your compiler for building MEX-files:
1172 Would you like mex to locate installed compilers [y]/n? y
1175 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1181 Please verify your choices:
1183 Compiler: Microsoft Software Development Kit (SDK) 7.1
1184 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1186 Are these correct [y]/n? y
1188 ***************************************************************************
1189 Warning: MEX-files generated using Microsoft Windows Software Development
1190 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1191 libraries be available on the computer they are run on.
1192 If you plan to redistribute your MEX-files to other MATLAB
1193 users, be sure that they have the run-time libraries.
1194 ***************************************************************************
1197 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1198 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1202 **************************************************************************
1203 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1204 variables with more than 2^32-1 elements. In the near future
1205 you will be required to update your code to utilize the new
1206 API. You can find more information about this at:
1207 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1208 Building with the -largeArrayDims option enables the new API.
1209 **************************************************************************
1212 \item Configure the RPP code generation target:
1214 Open Matlab and in the command window run:
1216 \lstset{language=Matlab}
1218 cd <rpp-simulink>/rpp/rpp/
1222 This will launch the RPP setup script. This script will ask the user to provide
1223 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1224 binary is located), normally:
1227 <ccs>/tools/compiler/arm_5.X.X/
1230 Then Matlab path will be updated and block S-Functions will be built.
1232 \item Create new model or load a demo:
1234 Demos are located in \texttt{\repo/rpp/demos} or you can start a new
1235 model and configure target to RPP. For new models see Section
1236 \ref{sec-crating-new-model} below.
1240 \subsection{Working with demo models}
1241 \label{sec-openning-demo-models}
1242 The demo models are available from the directory
1243 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1244 for downloading to the RPP board open them in Matlab. Use either the
1245 GUI or the following commands:
1247 \begin{lstlisting}[language=Matlab]
1248 cd <rpp-simulink>/rpp/demos
1249 open cantransmit.slx
1252 The same procedure can be used to open any other models. To build the
1253 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1254 Model}. This will generate the C code and build the binary firmware
1255 for the RPP board. To run the model on the target hardware see
1256 Section~\ref{sec-running-model-on-hw}.
1258 \subsection{Creating new model}
1259 \label{sec-crating-new-model}
1261 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1262 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1263 \item The new Simulink model needs to be configured in the following way:
1265 \item Solver (Figure \ref{fig-solver}):
1267 \item Solver type: \emph{Fixed-step}
1268 \item Solver: \emph{discrete}
1269 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1271 \item Tasking mode: \textit{SingleTasking}.
1274 \includegraphics[scale=.45]{images/simulink_solver.png}
1275 \caption{Solver settings}
1279 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1280 % \begin{compactitem}
1281 % \item Disable warning ``Source block specifies -1 sampling
1282 % time''. It's ok for the source blocks to run once per tick.
1285 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1286 % \caption{Sample Time settings}
1287 % \label{fig-sample-time-settings}
1290 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1292 \item Set ``System target file'' to \texttt{rpp.tlc}.
1295 \includegraphics[scale=.45]{images/simulink_code.png}
1296 \caption{Code Generation settings}
1297 \label{fig-code-gen-settings}
1301 \item Once the model is configured, you can open the Library Browser
1302 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1303 blocks to create the model. The RPP-specific blocks are located in
1304 the RPP Block Library.
1305 \item From Matlab command window change the current directory to where
1306 you want your generated code to appear, e.g.:
1307 \begin{lstlisting}[language=Matlab]
1310 The code will be generated in a subdirectory named
1311 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1313 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1314 Code $\rightarrow$ Build Model}.
1317 If you want to run the model on the RPP board, see Section
1318 \ref{sec-running-model-on-hw}.
1320 \subsection{Running models on the RPP board}
1321 \label{sec-running-model-on-hw}
1322 To run the model on the target RPP hardware you have to enable the download
1323 feature and build the model by following this procedure:
1325 \item Open the model you want to run (see
1326 Section~\ref{sec-openning-demo-models} for example with demo
1328 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1330 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1331 check the \textsc{Download compiled binary to RPP} checkbox.
1332 \item Click the \textsc{OK} button, connect the target HW to the computer
1333 like in the Section \ref{sec-ccs-run-project} and build the model by \textsc{Code $\rightarrow$ C/C++
1334 Code $\rightarrow$ Build Model}. If the build
1335 ends with a success, the download process will start and once the downloading is
1336 finished, the application will run immediatelly.
1339 %%\subsubsection{Using OpenOCD for downloading}
1340 %%\label{sec:using-open-downl}
1342 %%On Linux systems, it is possible to use an alternative download
1343 %%mechanism based on the OpenOCD tool. This results in much shorter
1344 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1345 %%download the compiled binary'' checkbox. For more information about
1346 %%the OpenOCD configuration refer to our
1347 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1349 %%Note: You should close any ongoing Code Composer Studio debug sessions
1350 %%before downloading the generated code to the RPP board. Otherwise the
1353 \section{Configuring serial interface}
1354 \label{sec-configuration-serial-interface}
1355 The main mean for communication with the RPP board is the serial line.
1356 Each application may define its own serial line settings, but the
1357 following settings is the default one:
1360 \item Baudrate: 115200
1364 \item Flow control: none
1367 Use GtkTerm in Linux or Bray Terminal for accessing the serial
1368 interface. On TMDSRM48HDK, the serial line is tunneled over the USB
1369 cable. % See Section \ref{sec-hardware-description} for reference about
1370 % the position of the serial interface connector on the RPP board.
1372 \section{Bug reporting}
1373 \label{sec-bug-reporting}
1375 Please report any problems to CTU's bug tracking system at
1376 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1377 to register in the system and notify Michal Sojka about their
1378 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1381 \chapter{C Support Library}
1382 \label{chap-c-support-library}
1384 This chapter describes the implementation of the C support library
1385 (RPP Library), which is used both for Simulink code generation target
1386 and command line testing tool.
1388 \section{Introduction}
1389 \label{sec-description}
1390 The RPP C Support Library (also called RPP library) defines the API for
1391 working with the board. It includes drivers and an operating system.
1393 designed from the board user perspective and exposes a simplified high-level API
1394 to handle the board's peripheral modules in a safe manner. The library is
1395 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1396 \texttt{\repo/rpp/lib}.
1398 The RPP library can be used in any project, where the RPP hardware
1399 support is required and it is also used in two applications --
1400 Simulink Coder target, described in Chapter
1401 \ref{chap-simulink-coder-target}, and the command line testing tool,
1402 described in Chapter \ref{chap-rpp-test-software}.
1404 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1406 \section{API development guidelines}
1407 \label{sec-api-development-guidlines}
1409 The following are the development guidelines used for developing the RPP API:
1412 \item User documentation should be placed in header files, not in source
1413 code, and should be Doxygen formatted using autobrief. Documentation for each
1414 function present is mandatory.
1415 \item Function declarations in the headers files is for public functions
1416 only. Do not declare local/static/private functions in the header.
1417 \item Documentation in source code files should be non-doxygen formatted
1418 and intended for developers, not users. Documentation here is optional and at
1419 the discretion of the developer.
1420 \item Always use standard data types for IO when possible. Use custom
1421 structs as very last resort. \item Use prefix based functions names to avoid
1422 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1423 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1425 \item Be very careful about symbol export. Because it is used as a
1426 static library the modules should not export any symbol that is not intended to
1427 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1428 of thumb declare all global variables as static.
1429 \item Only the RPP Layer symbols are available to user applications. All
1430 information related to lower layers is hidden for the application. This is
1431 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1432 implementations files only and never on the interface files. Never expose any
1433 other layer to the application or to the whole system below the RPP layer. In
1434 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1438 \section{Coding style}
1439 \label{sec-coding-style}
1440 In order to keep the code as clean as possible, unified coding style
1441 should be followed by any contributor to the code. The used coding
1442 style is based on the default configuration of Code Composer Studio
1443 editor. Most notable rule is that the Tab character is 4 spaces.
1445 The RPP library project is prepared for use of a tool named
1446 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1447 that do not match the coding style. However, keep in mind that the
1448 program is not perfect and sometimes it can modify code where the
1449 suggested coding style has been followed. This does not causes
1450 problems as long as the contributor follows the committing procedure
1451 described in next paragraph.
1453 When contributing to the code, the contributor should learn the
1454 current coding style from existing code. When a new feature is
1455 implemented and committed to the local repository, the following
1456 commands should be called in Linux terminal:
1458 \begin{lstlisting}[language=bash]
1462 The first line command corrects many found coding style violations and
1463 the second command displays them. If the user agree with the
1464 modification, he/she should amend the last commit, for example by:
1465 \begin{lstlisting}[language=bash]
1470 \section{Subdirectory content description}
1471 \label{sec-rpp-lib-subdirectory-content-description}
1473 The following files and directories are present in the library source
1477 \item[rpp-lib.lib and librpp.a] static RPP libraries.
1479 The first one is the library for Simulink models and other ARM/RM48
1480 applications, the other can be used for POSIX simulation. This files
1481 are placed here by the Makefile, when the library is built.
1483 \item[apps/] Demo applications related to the RPP library.
1485 This include the CCS studio project for generating of the static
1486 library and a test suite. The test suit in this directory has
1487 nothing common with the test suite described later in
1488 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1489 to be merged in the future. Also other Hello World applications are
1490 included as a reference about how to create an RM48 application.
1491 \item[os/] OS layers directory. See
1492 Section~\ref{sec-operating-system-layer} for more information about
1493 currently available operating system versions and
1494 Section~\ref{sec-changing-os} for information how to replace the
1496 \item[rpp/] Main directory for the RPP library.
1497 \item[rpp/doc/] RPP Library API
1499 \item[rpp/RM48L952FlashLnk.cmd] CGT Linker command file.
1501 This file is used by all applications linked for the RPP board,
1502 including the Simulink models and test suite. It includes
1503 instructions for the CGT Linker about target memory layout and where
1504 to place various code sections.
1505 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1506 implementations files for given \texttt{\{layer\}}. See
1507 Section~\ref{sec-software-architecture} for details on the RPP
1509 \item[rpp/include/rpp/rpp.h] Main library header file.
1511 To use this library with all its modules, just include this file
1512 only. Also, before using any library function call the
1513 \texttt{rpp\_init()} function for hardware initialization.
1514 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1515 \texttt{\{mnemonic\}} module.
1517 These files includes function definitions, pin definitions, etc,
1518 specific to \{mnemonic\} module. See also
1519 Section~\ref{sec-api-development-guidlines}.
1521 If you want to use only a subset of library functions and make the
1522 resulting binary smaller, you may include only selected
1523 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1524 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1525 \texttt{rpp.h} and \texttt{rpp\_init} function.
1526 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1528 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1529 top of the DRV library.
1530 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1533 \section{Compilation}
1534 \label{sec-compilation}
1536 To compile the library open the Code Composer studio project
1537 \texttt{rpp-lib} (see Section~\ref{sec-openning-of-existing-project})
1538 and build the project (\textsc{Project $\rightarrow$ Build Project}).
1539 If the build process is successful, the \texttt{rpp-lib.lib} file will
1540 appear in the library root directory.
1542 It is also possible to compile the library using the included
1543 \texttt{Makefile}. From the Linux command line run:
1544 \begin{lstlisting}[language=bash]
1548 Note that this only works if Code Composer Studio is installed in
1549 \texttt{/opt/ti} directory. Otherwise, you have to set
1550 \texttt{CCS\_UTILS\_DIR} variable.
1552 On Windows command line run:
1553 \begin{lstlisting}[language=bash]
1555 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1556 C:\ti\ccsv5\utils\bin\gmake.exe lib
1559 You have to use \texttt{gmake.exe} is instead of \texttt{make} and it
1560 is necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You
1561 can also edit \texttt{\repo/Debug/GNUmakefile} and set the variable
1564 Note that the Makefile still requires the Code Composer Studio (ARM
1565 compiler) to be installed because of the CGT.
1567 \section{Compiling applications using the RPP library}
1568 \label{sec:comp-appl-using}
1570 The relevant aspects for compiling and linking an application using
1571 the RPP library are summarized below.
1573 \subsection{ARM target (RPP board)}
1574 \label{sec:arm-target-rpp}
1576 The detailed instructions are presented in
1577 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1581 \item Configure include search path to contain the directory of
1582 used FreeRTOS version, e.g.
1583 \texttt{\repo/os/7.0.2\_rm48/include}. See Section
1584 \ref{sec-software-architecture}.
1585 \item Include \texttt{rpp/rpp.h} header file or just the needed
1586 peripheral specific header files such as \texttt{rpp/can.h}.
1587 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1588 The RPP library must be placed before Texas Instruments
1589 support library \texttt{rtsv7R4\_T\_le\_v3D16\_eabi.lib}.
1590 \item Use the provided linker command file
1591 \texttt{RM48L952FlashLnk.cmd}.
1594 \subsection{POSIX target}
1595 \label{sec:posix-target}
1598 \item Include headers files of the OS for Simulation. At the time
1599 of this writing the OS is POSIX FreeRTOS 6.0.4.
1600 \item Include header files for the RPP library or for modules you
1601 want to use (rpp\_can.h for CAN module for example).
1602 \item Add library \texttt{librpp.a} to the linker libraries.
1603 \item Add \texttt{pthread} to the linker libraries.
1606 \section{Compiling API documentation}
1607 \label{sec-compiling-api-documentation}
1608 The documentation of the RPP layer is formatted using Doxygen
1609 documentation generator. This allows to generate a high quality API
1610 reference. To generate the API reference run in a Linux terminal:
1612 \lstset{language=bash}
1614 cd <repo>/rpp/doc/api
1616 xdg-open html/index.html
1619 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1620 reference generation are their name is self-explanatory:
1630 \section{Changing operating system}
1631 \label{sec-changing-os}
1632 The C Support Library contains by default the FreeRTOS operating
1633 system in version 7.0.2. This section describes what is necessary to
1634 change in the library and other packages in order to replace the
1637 \subsection{Operating system code and API}
1639 The source and header files of the current operating system (OS) are
1640 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1641 operating system should also be placed in this directory.
1643 To make the methods and resources of the new OS available to the C Support
1644 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1645 the operating system header files.
1647 Current implementation for FreeRTOS includes a header file
1648 \texttt{\repo/rpp/lib/os/\-7.0.2\_rm48/\-include/os.h}, which
1649 contains all necessary declarations and definitions for the FreeRTOS.
1650 We suggest to provide a similar header file for your operating system as
1653 In order to compile another operating system into the library, it is
1654 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1655 contains a list of files that are compiled into the library. All lines
1656 starting with \texttt{os/} should be updated.
1658 \subsection{Device drivers}
1659 Drivers for SCI and ADC depend on the FreeRTOS features. These
1660 features need to be replaced by equivalent features of the new
1661 operating system. Those files should be modified:
1663 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1664 structure, referring to FreeRTOS queue and semaphore.
1665 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1667 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1668 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1669 suggest replacing this with OS independent type, e.g. number of
1670 milliseconds to wait, with $-1$ meaning infinite waiting time.
1671 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1672 specific features: semaphores, queues, data types
1673 (\texttt{portBASE\_TYPE}) and
1674 critical sections (\texttt{taskENTER\_CRITICAL} and
1675 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1676 task preemption is disabled. The same should be ensured by the other
1677 operating system or the driver should be rewritten to use other
1678 synchronization primitives.
1679 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1682 \subsection{System start}
1683 The initialization of the MCU and the system is in the
1684 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1685 operating system needs to handle interrupts generated by the Real-Time
1686 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1687 \texttt{vPreemptiveTick} has to be replaced.
1689 \subsection{Simulink template for main function}
1691 When the operating system in the library is replaced, the users of the
1692 library must be changed as well. In case of Simulink code generation
1693 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1694 template for generation of the \texttt{ert\_main.c} file, containing
1695 the main function, has to be modified to use proper functions for task
1696 creation, task timing and semaphores. The template is stored in
1697 \texttt{\repo/rpp/rpp/rpp\_srmain.tlc} file.
1699 \chapter{Simulink Coder Target}
1700 \label{chap-simulink-coder-target}
1702 The Simulink Coder Target allows to convert Simulink models to a C code,
1703 compile it and download to the board.
1705 \section{Introduction}
1706 \label{sec-introduction}
1708 The Simulink RPP Target provides support for C source code generation from Simulink models and
1709 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1710 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1711 Code Composer Studio, and thus it depends on it for proper functioning.
1713 This target also provides support for automatic download of the compiled binary to the RPP
1716 \begin{figure}[H]\begin{center}
1718 \includegraphics[scale=.45]{images/tlc_process.png}
1719 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1720 \end{center}\end{figure}
1722 \section{Features and limitations}
1723 \label{sec-features}
1726 \item Sampling frequencies up to 1\,kHz.
1727 \item Multi-rate models are executed in a single thread in
1728 non-preemptive manner. Support for multi-threaded execution will be
1729 available in the final version and will require careful audit of the
1730 RPP library with respect to thread-safe code.
1731 \item No External mode support yet. We work on it.
1732 \item Custom compiler options, available via OPTS variable in
1733 \emph{Make command} at \emph{Code Generation} tab (see Figure
1734 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1738 \section{RPP Options pane}
1739 \label{sec-rpp-target-options}
1741 The RPP Target includes the following configuration options, all of them
1742 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1743 \textsc{RPP Options}:
1746 \item \textbf{C system stack size}: this parameter is passed directly
1747 to the linker for the allocation of the stack. Note that this stack
1748 is used only for initializing the application and FreeRTOS. Once
1749 everything is initialized, another stack is used by the generated
1750 code. See below. Default value is 4096.
1752 \item \textbf{C system heap size}:
1753 \label{sec-rpp-target-options-heap-size} this parameter is passed
1754 directly to the linker for the allocation of the heap. Currently,
1755 the heap is not used, but will be used by the external mode in the future.
1756 Note that FreeRTOS uses its own heap whose size is independent of this
1758 \item \textbf{Model step task stack size}: this parameter will be
1759 passed to the \texttt{xTaskCreate()} that
1760 creates the task for the model to run. In a Simulink model there are always two tasks:
1762 \item The worker task. This task is the one that executes the model
1763 step. This task requires enough stack memory to execute the step.
1764 If your model does not run, it might be caused by too small stack.
1765 The memory needed for the stack depends on the size and structure
1767 \item The control task. This task controls when the worker task should execute and controls overruns.
1770 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1771 the board after the model is successfully built. Note that this option is unaware of the option
1772 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1773 only source code has been generated, failing graciously or uploading an old binary laying around
1774 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1775 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1776 script can be found in:
1778 <css>/ccs_base/scripting/examples/loadti/readme.txt
1779 http://processors.wiki.ti.com/index.php/Loadti
1782 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1783 download of the generated program, leaving the loaded program running.
1785 The \texttt{loadopenocd.sh} script will close after the download of the
1786 generated program as well, but the program will be stopped. In order to run
1787 the loaded program a manual reset of the board is required.
1789 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1790 implemented for the simulink target.
1792 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1793 implemented for the RM48L952 simulink target.
1795 \item \textbf{Print model metadata to SCI at start}: if set this option will
1796 print a message to the Serial Communication Interface when the model start
1797 execution on the board. This is very helpful to identify the model running on
1798 the board. The message is in the form:
1801 `model_name' - generated_date (TLC tlc_version)
1806 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1810 \section{Subdirectory content description}
1811 \label{sec-simulink-subdirectory-content-description}
1812 This section describes the directories of the Simulink Coder. If you are
1813 interested in particular file, refer the description at the beginning of the
1817 \item[doc/] Contains the sources of the documentation, you are now
1819 \item[refs/] Contains third party references, which license allows the
1821 \item[rpp/blocks] Contains the TLC files, which defines the blocks for
1822 the Matlab Simulink and \texttt{rpp\_lib.slx}, which is the Simulink RPP
1823 Library, containing all the Simulink blocks for RPP.
1824 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1825 Matlab Simulink model.
1826 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1827 reference for the usage and for testing.
1828 \item[rpp/lib] Contains the C Support Library. See Chapter
1829 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1830 for Linux support of the OpenOCD, for code downloading to the target.
1831 \item[rpp/loadti] Contains download scripts for Linux and Windows
1832 support for code downloading to the target, using Texas Instruments CCS code
1834 \item[rpp/rpp] Contains set of support script for the Code Generator.
1837 \section{Block Library Overview}
1838 \label{sec-block-library-overview}
1839 The Simulink Block Library is a set of blocks that allows Simulink models to use
1840 board IO and communication peripherals. The available blocks are summarized in
1841 Table~\ref{tab:block-lib-status} and more detailed description is
1842 given in Section~\ref{sec-blocks-description}.
1845 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1847 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1849 \input{block_table.tex}
1851 \end{tabular}\end{center}
1853 \caption{Block library overview}
1854 \label{tab:block-lib-status}
1857 \label{sec-blocks-implementation}
1858 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1859 approach taken is briefly explained.
1861 \subsection{C MEX S-Functions}
1862 \label{sec-c-mex-functions}
1864 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1865 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1866 \item S-Function: System Function, as opposed to standard functions, or user functions.
1869 A C MEX S-Function is a structured C file that implements some mandatory and
1870 optional callbacks for a specification of a number of inputs, outputs, data
1871 types, parameters, rate, validity checking, etc. A complete list of callbacks
1874 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1877 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1878 diagram \ref{fig-sfunctions-process}:
1880 \begin{figure}[H]\begin{center}
1882 \includegraphics[scale=.45]{images/sfunctions_process.png}
1883 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1884 \label{fig-sfunctions-process}
1885 \end{center}\end{figure}
1887 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1888 the RPP blocks are for hardware peripherals control and IO the blocks are
1889 implemented as pure sink or pure source, the S-Function is just a descriptor of
1890 the block and does not perform any calculation and does not provide any input or
1891 output for simulations.
1893 The implementation of the S-Functions in the RPP project has following layout:
1896 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1897 \item Include header file \texttt{header.c}, which in connection with
1898 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1899 \item In \texttt{mdlInitializeSizes} define:
1901 \item Number of \textit{dialog} parameter.
1902 \item Number of input ports.
1904 \item Data type of each input port.
1906 \item Number of output ports.
1908 \item Data type of each output port.
1910 \item Standard options for driver blocks.
1912 \item In \texttt{mdlCheckParameters}:
1914 \item Check data type of each parameter.
1915 \item Check range, if applicable, of each parameter.
1917 \item In \texttt{mdlSetWorkWidths}:
1919 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1921 \item Data type of each \textit{runtime} parameter.
1924 \item Define symbols for unused functions.
1925 \item Include trailer file \texttt{trailer.c}.
1928 The C MEX S-Function implemented can be compiled with the following command:
1930 \lstset{language=bash}
1932 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1935 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1936 and use lower case mnemonic of the block.
1938 Also a script called \texttt{compile\_blocks.m} is included. The script that
1939 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1940 all S-Functions are compiled at once. To use this script, in Matlab do:
1942 \lstset{language=Matlab}
1944 cd <repo>/rpp/blocks/
1948 \subsection{Target Language Compiler files}
1949 \label{sec-target-language-compiler-files}
1951 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1952 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1953 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1954 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1957 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1958 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1959 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
1961 The TLC files implemented for this project use 3 hook functions in particular (other are available,
1962 see TLC reference documentation):
1964 \item \texttt{BlockTypeSetup}: \newline{}
1965 BlockTypeSetup executes once per block type before code generation begins.
1966 This function can be used to include elements required by this block type, like includes or
1968 \item \texttt{Start}: \newline{}
1969 Code here will be placed in the \texttt{void
1970 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
1972 \item \texttt{Outputs}: \newline{}
1973 Code here will be placed in the \texttt{void
1974 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
1975 inputs o a block and/or to set the outputs of that block.
1978 The general layout of the TLC files implemented for this project are:
1980 \item In \texttt{BlockTypeSetup}: \newline{}
1981 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
1982 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
1983 \item \texttt{Start}: \newline{}
1984 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
1985 DAC value initialization, SCI baud rate setup, among others.
1986 \item \texttt{Outputs}: \newline{}
1987 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
1988 is checked and in case of failure error is reported to the block using ErrFlag.
1991 C code generated from a Simulink model is placed on a file called
1992 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
1993 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
1994 For example, the source code generated for model \texttt{foobar} will be placed
1995 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
1997 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
1999 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
2000 This function recalculates all the outputs of the blocks and should be called once per step. This
2001 is the main working function.
2002 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
2003 This function is called only once before the first step is issued. Default values for blocks IOs
2004 should be placed here.
2005 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
2006 This function is called when terminating the model. This should be used to free memory of revert
2007 other operations made on the initialization function. With current implementation this function
2008 should never be called unless an error is detected and in most models it is empty.
2011 \section{Block reference}
2012 \label{sec-blocks-description}
2014 This section describes each one of the Simulink blocks present in the Simulink
2015 RPP block library, shown in Figure \ref{fig-block-library}.
2019 \includegraphics[width=\textwidth]{images/block_library.png}
2021 \caption{Simulink RPP Block Library.}
2022 \label{fig-block-library}
2025 \input{block_desc.tex}
2027 \section{Compilation}
2028 \label{sec-simulink-compilation}
2029 The first step, before any attempt to compile demo or other models, is to compile the S-Functions of the RPP blocks. The S-Functions are compiled during the Configuring Simulink for RPP, described in Section \ref{sec-configuration-simulink-for-rpp}. If you want to recompile the S-Functions without reconfiguring the Simulink, open the Matlab and run those commands in the Matlab commad line:
2030 \lstset{language=Matlab}
2032 cd <rpp-simulink>/rpp/blocks
2036 Once the S-Functions are compiled, the C code can be generated from the models. Demos can be compiled one by one with a procedure described in Section \ref{sec-openning-demo-models} or all at once with one of those procedures:
2039 \item Open Matlab and run those commands in the Matlab command line:
2040 \lstset{language=Matlab}
2042 cd <rpp-simulink>/rpp/demos
2045 \item Run those commands in a Linux terminal:
2046 \begin{lstlisting}[language=bash]
2047 cd <rpp-simulink>/rpp/demos
2051 or Windows command line:
2053 \begin{lstlisting}[language=bash]
2054 cd <rpp-simulink>\rpp\demos
2055 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2058 Both commands will create a directory for each compiled demo, which will contai the generated C code and binary file with the firmware. To download the firmware to the board and run it see Section \ref{sec-running-software-on-hw}.
2061 \section{Adding new functionality}
2062 \label{sec:adding-new-funct}
2063 This section describes how to create new Simulink blocks and how to add them to the RPP
2064 blocks library. The new block creation process consists of several steps:
2066 \item Addition of the new functionality to the RPP C support library.
2067 \item Definition of the block in a C file (Section~\ref{sec:block-definition-c})
2068 \item Compilation of the block definition to C MEX file
2069 (Section~\ref{sec:c-mex-file})
2070 \item Creation of the code generator template (TLC) file
2071 (Section~\ref{sec:tlc-file-creation}).
2072 \item Creation of an S-Function block in the RPP block library
2073 and ``connecting'' of this block to the C MEX and TLC files
2074 (Section~\ref{sec:creation-an-s})
2075 \item Optional: Creation of the mask for the new block. The mask
2076 specifies graphical representation of the block as well as
2077 the content of the block parameters dialog box.
2079 The following subsections demonstrates the procedure on an example of a simple user defined block.
2081 \subsection{Block definition in a C file}
2082 \label{sec:block-definition-c}
2083 In order to use a custom block in the Simulink model, Simulink must know
2084 a certain number of block attributes, such as the number and type of
2085 block inputs, outputs and parameters. These attributes are specified
2086 by a set of functions in a C file. This C file gets compiled by a MEX
2087 compiler into a C MEX file and is then used in an S-Function block.
2088 Simulink calls the functions in the C MEX file to obtain the above
2089 mentioned block attributes. In case of RPP blocks, no other
2090 functionality is present in the C MEX file.
2092 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2093 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2094 the C files as a reference.
2096 Every C file that will be used with the RPP library should begin with
2097 a block of text in the YAML\footnote{\url{http://yaml.org/},
2098 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2099 this block is used to automatically generate both printed and on-line
2100 documentation. Although this block is not mandatory, it is highly
2101 recommended, as it helps keeping the documentation consistent and
2104 The YAML documentation block may look like this:
2105 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2109 Name: Name Of The Block
2115 - { name: "Some Input Signal", type: "bool" }
2118 - { name: "Some Output Signal", type: "bool" }
2122 # Description and Help is in Markdown mark-up
2125 This is a stub of an example block.
2129 This block is a part of an example about how to create
2130 new Matlab Simulink blocks for RPP board.
2134 RPP API functions used:
2142 Following parts are obligatory and the block will not work without them. It starts with a
2143 definition of the block name and inclusion of a common source file:
2145 \begin{lstlisting}[language=c]
2146 #define S_FUNCTION_NAME sfunction_myblock
2150 To let Simulink know the type of the inputs, outputs and how many parameters
2151 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2153 \begin{lstlisting}[language=c]
2154 static void mdlInitializeSizes(SimStruct *S)
2156 /* The block will have no parameters. */
2157 if (!rppSetNumParams(S, 0)) {
2160 /* The block will have one input signal. */
2161 if (!ssSetNumInputPorts(S, 1)) {
2164 /* The input signal will be of type boolean */
2165 rppAddInputPort(S, 0, SS_BOOLEAN);
2166 /* The block will have one output signal */
2167 if (!ssSetNumOutputPorts(S, 1)) {
2170 /* The output signal will be of type boolean */
2171 rppAddOutputPort(S, 0, SS_BOOLEAN);
2173 rppSetStandardOptions(S);
2177 The C file may contain several other optional functions definitions for parameters check,
2178 run-time parameters definition and so on. For information about those functions refer the comments
2179 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2181 The minimal C file compilable into C MEX has to contain following
2182 macros to avoid linker error messages about some of the optional
2183 functions not being defined:
2184 \begin{lstlisting}[language=c]
2185 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2186 #define UNUSED_MDLCHECKPARAMETERS
2187 #define UNUSED_MDLOUTPUTS
2188 #define UNUSED_MDLTERMINATE
2191 Every C file should end by inclusion of a common trailer source file:
2193 \begin{lstlisting}[language=c]
2194 #include "trailer.c"
2197 \subsection{C MEX file compilation}
2198 \label{sec:c-mex-file}
2199 In order to compile the created C file, the development environment
2200 has to be configured first as described in
2201 Section~\ref{sec-matlab-simulink-usage}.
2203 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2204 into C MEX by running script
2205 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2206 prompt. If your block requires some special compiler options, edit the
2207 script and add a branch for your block.
2209 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2210 from Matlab command prompt.
2212 \subsection{TLC file creation}
2213 \label{sec:tlc-file-creation}
2214 The TLC file is a template used by the code generator to generate the
2215 C code for the RPP board. The TLC files are stored in
2216 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2217 same (except for the extension) as the names of the corresponding
2218 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2219 free to open any of the TLC files as a reference.
2221 TLC files for RPP blocks should contain a header:
2222 \begin{lstlisting}[language=c]
2223 %implements sfunction_myblock "C"
2224 %include "common.tlc"
2227 Code Generator expects several functions to be implemented in the TLC file. The functions are not obligatory, but most of the blocks will probably need them:
2229 \item BlockTypeSetup
2230 \item BlockInstanceSetup
2235 For detail description about each one of those functions, refer to
2236 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2237 some code may look like this:
2238 \begin{lstlisting}[language=c]
2239 %implements sfunction_myblock "C"
2240 %include "common.tlc"
2242 %function BlockTypeSetup(block, system) void
2243 %% Ensure required header files are included
2244 %<RppCommonBlockTypeSetup(block, system)>
2245 %<LibAddToCommonIncludes("rpp/sci.h")>
2248 %function Outputs(block, system) Output
2249 %if !SLibCodeGenForSim()
2250 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2251 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2253 %<out_signal> = !%<in_signal>;
2254 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2260 The above template causes the generated code to contain
2261 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2262 executed, its output will be the negation of its input and the value
2263 of the input signal will be printed to the serial line.
2265 \subsection{Creation of an S-Function block in the RPP block library}
2266 \label{sec:creation-an-s}
2267 User defined blocks in Simulink can be included in the model as
2268 S-Function blocks. Follow this procedure to create a new block in the
2271 \item Open the \texttt{\repo/rpp/blocks/rpp\_lib.slx} file in Matlab.
2272 \item Unlock it for editing by choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2273 \item Open a Simulink Library Browser (\textsc{View$\rightarrow$Library Browser}) and from
2274 \textsc{Simulink$\rightarrow$User-Defined Functions} drag the S-Function block and drop it in the
2276 \item Double click on the just created S-Function block and in the
2277 dialog window write the name of the S-Functions C MEX file without
2278 the extension (e.g. sfunction\_myblock) in the \textsc{S-function
2280 \item If your block has some parameters, write their names in the \textsc{S-function parameters}
2281 field, separated by commas. The result should like like in the Figure~\ref{fig-simulink_s_fun_cfg}.
2282 \item Now you should see the new Simulink block with the right
2283 number of inputs and outputs.
2284 \item Optional: Every user-defined block should have a
2285 \emph{mask}, which provides some useful information about
2286 the name of the block, configuration dialog for parameters
2287 and names of the IO signals. The block can be used even
2288 without the mask, but it is not as user friendly as with the
2289 proper mask. See \cite[Section ``Block
2290 Masks'']{mathworks13:simul_2013b} for more information.
2291 \item Save the library and follow the procedure in
2292 Section~\ref{sec-crating-new-model} to use the new block in
2295 \begin{figure}[H]\begin{center}
2297 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2298 \caption{Configuration dialog for user defined S-function.}
2299 \label{fig-simulink_s_fun_cfg}
2300 \end{center}\end{figure}
2304 \section{Demos reference}
2305 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2306 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2308 This demos library is used as a test suite for the Simulink RPP Block Library
2309 but they are also intended to show basic programs built using it. Because of
2310 this, the demos try to use more than one
2311 type of block and more than one block per block type.
2313 In the reference below you can find a complete description for each of the demos.
2315 \subsection{ADC demo}
2316 \begin{figure}[H]\begin{center}
2318 \includegraphics[scale=.45]{images/demo_adc.png}
2319 \caption{Example of the usage of the Analog Input blocks for RPP.}
2320 \end{center}\end{figure}
2322 \textbf{Description:}
2324 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2325 measures voltage on every available Analog Input and prints the values on the
2328 \subsection{Simple CAN demo}
2329 \begin{figure}[H]\begin{center}
2331 \includegraphics[scale=.45]{images/demo_simple_can.png}
2332 \caption{The simplest CAN demonstration.}
2333 \end{center}\end{figure}
2335 \textbf{Description:}
2337 The simplest possible usage of the CAN bus. This demo is above all designed for
2338 testing the CAN configuration and transmission.
2340 \subsection{CAN transmit}
2341 \begin{figure}[H]\begin{center}
2343 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2344 \caption{Example of the usage of the CAN blocks for RPP.}
2345 \end{center}\end{figure}
2347 \textbf{Description:}
2349 Demostrates how to use CAN Transmit blocks in order to:
2352 \item Send unpacked data with data type uint8, uint16 and uint32.
2353 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2354 \item Send a message as extended frame type to be received by CAN Receive
2355 configured to receive both, standard and extended frame types.
2358 Demostrates how to use CAN Receive blocks in order to:
2361 \item Receive unpacked data of data types uint8, uint16 and uint32.
2362 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2363 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2364 \item Use function-call mechanism to process received messages
2367 \subsection{Continuous time demo}
2368 \begin{figure}[H]\begin{center}
2370 \includegraphics[scale=.45]{images/demo_continuous.png}
2371 \caption{The demonstration of contiuous time.}
2372 \end{center}\end{figure}
2374 \textbf{Description:}
2376 This demo contains two integrators, which are running at continuous time. The main goal
2377 of this demo is to verify that the generated code is compilable and is working even when
2378 discrete and continuous time blocks are combined together.
2380 \subsection{Simulink Demo model}
2381 \begin{figure}[H]\begin{center}
2383 \includegraphics[scale=.45]{images/demo_board.png}
2384 \caption{Model of the complex demonstration of the boards peripherals.}
2385 \end{center}\end{figure}
2387 \textbf{Description:}
2389 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2390 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2391 rotates the light around the MCU in one direction. Every time the user presses the button
2392 on the HDK, the direction is switched.
2394 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2395 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2396 and the message 0xFFFFFFFF simulates the button press.
2398 Information about the state of the application are printed on the Serial Interface.
2400 \subsection{Echo char}
2401 \begin{figure}[H]\begin{center}
2403 \includegraphics[scale=.45]{images/demo_echo_char.png}
2404 \caption{Echo Character Simulink demo for RPP.}
2405 \end{center}\end{figure}
2407 \textbf{Description:}
2409 This demo will echo (print back) any character received through the Serial Communication
2410 Interface (115200-8-N-1).
2412 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2413 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2415 \subsection{GIO demo}
2416 \begin{figure}[H]\begin{center}
2418 \includegraphics[scale=.45]{images/demo_gio.png}
2419 \caption{Demonstration of DIN and DOUT blocks}
2420 \end{center}\end{figure}
2422 \textbf{Description:}
2424 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2425 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2426 on the Serial Interface with the same period.
2428 \subsection{Hello world}
2429 \begin{figure}[H]\begin{center}
2431 \includegraphics[scale=.45]{images/demo_hello_world.png}
2432 \caption{Hello World Simulink demo for RPP.}
2433 \end{center}\end{figure}
2435 \textbf{Description:}
2437 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2438 character per second. The output speed is driven by the Simulink model step which is set to one
2441 \subsection{Multi-rate single thread demo}
2442 \label{sec:mult-single-thre}
2444 \begin{figure}[H]\begin{center}
2446 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2447 \caption{Multi-rate singlet hread Simulink demo for RPP.}
2448 \end{center}\end{figure}
2450 \textbf{Description:}
2452 This demo will toggle LEDs on the Hercules Development Kit with
2453 different rate. This is implemented with multiple Simulink tasks, each
2454 running at different rate. In the generated code, these tasks are
2455 called from a singe thread and therefore no task can preempt another
2458 The state of each LED is printed to the Serial Communication Interface
2459 (115200-8-N-1) when toggled.
2462 \begin{tabular}{lll}
2463 \rowcolor[gray]{0.9}
2464 LED & pin & rate [s] \\
2465 1 & NHET1\_25 & 0.3 \\
2466 2 & NHET1\_05 & 0.5 \\
2467 3 & NHET1\_00 & 1.0 \\
2469 \captionof{table}{LEDs connection and rate}
2470 \label{tab:multirate_st_led_desc}
2474 \chapter{Command line testing tool}
2475 \label{chap-rpp-test-software}
2476 \section{Introduction}
2477 \label{sec-rpp-test-sw-intro}
2478 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2479 control of the RPP hardware. The test suite implements a command processor,
2480 which is listening for a commands and prints some output related to the commands
2481 on the serial interface. The command processor is modular and each peripheral
2482 has its commands in a separated module.
2484 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2485 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2487 The application enables a command processor using the SCI at
2488 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2489 and prompt should look like:
2492 Ti HDK RM48L952, FreeRTOS 7.0.2
2493 Test Software version eaton-0.1-beta-8-g91419f5
2494 CTU in Prague 10/2014
2498 Type in command help for a complete list of available command, or help command
2499 for a description of concrete command.
2501 \section{Compilation}
2502 \label{sec-rpp-test-sw-compilation}
2503 Before the Testing tool can be compiled, the RPP Library has to be built and the binary file \texttt{rpp-lib.lib} has to be present in the \texttt{\repo/rpp-lib/} directory. Once this requirement is fulfilled, there are two ways how to compile the Testing tool.
2505 \item Using a Code Composer Studio, which is described in Section \ref{sec-project-installation}. The procedure of downloading the firmware right from the CCS and running it on the hardware is described in Section \ref{sec-running-software-on-hw}.
2506 \item Using a make from a Linux terminal or gmake from a Windows command line. The procedure of how to download and run the binary on the hardware is described in Section \ref{sec-binary-file}.
2508 To build the Testing tool from Linux terminal run:
2509 \begin{lstlisting}[language=bash]
2514 or from Windows command line:
2516 \begin{lstlisting}[language=bash]
2518 "C:\ti\ccsv5\utils\bin\"gmake.exe
2521 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2525 \section{Commands description}
2527 This section contains the description of the available commands. The
2528 same description is also available in the program itself via the
2529 \texttt{help} command.
2531 \input{rpp-test-sw-cmds.tex}
2537 \textit{Analog to Digital Converter.} \newline{}
2538 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2539 digital number that represents the quantity's amplitude.
2542 \textit{Analog Input.} \newline{}
2543 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2546 \textit{Analog Output.} \newline{}
2547 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2550 \textit{Controller Area Network.} \newline{}
2551 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2552 communicate with each other within a vehicle without a host computer.
2553 In this project it is also used as mnemonic to refer to or something related to the CAN
2557 \textit{Code Generation Tools.} \newline{}
2558 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2559 assemble, archive, among others. In this project is normally used as synonym for
2560 ``Texas Instruments ARM compiler and linker."
2563 \textit{Digital to Analog Converter.} \newline{}
2564 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2565 (current, voltage, or electric charge).
2568 \textit{Digital Input.} \newline{}
2569 Mnemonic to refer to or something related to the digital input hardware module.
2572 \textit{Engine Control Unit.} \newline{}
2573 A type of electronic control unit that controls a series of actuators on an internal combustion
2574 engine to ensure the optimum running.
2577 \textit{Ethernet.} \newline{}
2578 Mnemonic to refer to or something related to the Ethernet hardware module.
2581 \textit{FlexRay.} \newline{}
2582 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2584 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2588 \textit{General Purpose Input/Output.} \newline{}
2589 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2590 controlled (programmed) by the user at run time.
2593 \textit{H-Bridge.} \newline{}
2594 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2595 an electronic circuit that enables a voltage to be applied across a load in either direction.
2598 \textit{High-Power Output.} \newline{}
2599 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2600 output hardware module.
2603 \textit{Integrated Development Environment.} \newline{}
2604 An IDE is a Software application that provides comprehensive facilities to computer programmers
2605 for software development.
2608 \textit{Legacy Code Tool.} \newline{}
2609 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2613 \textit{Model-Based Design.} \newline{}
2614 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2615 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2618 \textit{Matlab Executable.} \newline{}
2619 Type of binary executable that can be called within Matlab. In this document the common term
2620 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2624 \textit{Pulse-width modulation.} \newline{}
2625 Technique for getting analog results with digital means. Digital control is used to create a
2626 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2627 in between full on and off by changing the portion of the time the signal spends on versus
2628 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2629 \textit{duty cycle}.
2631 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2632 developed platform, that includes both hardware and software.
2635 \textit{Serial Communication Interface.} \newline{}
2636 Serial Interface for communication through hardware's UART using communication standard RS-232.
2637 In this project it is also used as mnemonic to refer to or something related to the Serial
2638 Communication Interface hardware module.
2641 \textit{SD-Card.} \newline{}
2642 Mnemonic to refer to or something related to the SD-Card hardware module.
2645 \textit{SD-RAM.} \newline{}
2646 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2649 \textit{Target Language Compiler.} \newline{}
2650 Technology and language used to generate code in Matlab/Simulink.
2653 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2654 Hardware circuitry that translates data between parallel and serial forms.
2661 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2662 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2663 % LocalWords: IOs HDK TMDSRM