1 \documentclass{scrreprt}
3 \usepackage{graphicx} % images and graphics
4 \usepackage{paralist} % needed for compact lists
5 \usepackage[normalem]{ulem} % needed by strike
6 \usepackage{listings} % required for code blocks
7 \usepackage[urlcolor=blue,colorlinks=true,hyperfootnotes=false]{hyperref} % links
8 \usepackage[utf8]{inputenc} % char encoding
9 \usepackage[bottom]{footmisc} % footnotes
10 \usepackage{todonotes}
11 \usepackage[backend=biber,style=alphabetic,sortcites=true]{biblatex}
13 \addbibresource{rpp_simulink.bib}
16 \usepackage[top=2.5cm, bottom=2.5cm, left=2.5cm, right=2.5cm]{geometry}
17 \usepackage{float} % To fix images position
19 % Prettify code documentation
22 % \usepackage[table]{xcolor}
24 \definecolor{gray97}{gray}{.97}
25 \definecolor{gray75}{gray}{.75}
26 \definecolor{gray45}{gray}{.45}
31 framexbottommargin=3pt,
32 framexleftmargin=0.4cm,
35 backgroundcolor=\color{gray97},
36 rulesepcolor=\color{black},
38 stringstyle=\ttfamily,
39 showstringspaces = false,
40 basicstyle=\small\ttfamily,
41 commentstyle=\color{gray45},
42 keywordstyle=\bfseries,
47 numberfirstline = false,
56 \linespread{1.15} % Lines spacing
57 \setlength{\plitemsep}{0.5\baselineskip} % List items spacing
58 \definecolor{deepblue}{RGB}{0,0,61}
59 \definecolor{deepgreen}{RGB}{0,80,0}
60 \hypersetup{linkcolor=deepblue,citecolor=deepgreen,}
62 % Table of content depth
63 \setcounter{tocdepth}{2}
67 \usepackage{pdflscape}
70 \usepackage{changepage}
74 % \renewcommand{\familydefault}{\sfdefault}
82 \newcommand{\repo}{$\langle$repo$\rangle$}
83 \newcommand{\superscript}[1]{\ensuremath{^{\textrm{\small#1}}}}
84 \newcommand{\subscript}[1]{\ensuremath{_{\textrm{\small#1}}}}
86 % Include target specific macros etc.
87 \input{rpp_simulink_target.tex}
92 \newcommand{\HRule}{\rule{\linewidth}{0.5mm}}
97 % Upper part of the page
100 \includegraphics[width=0.35\textwidth]{images/cvut.pdf}\\[1cm]
101 \textsc{\LARGE Czech Technical University in Prague}\\[1.5cm]
107 {\huge \bfseries Simulink code generation target for Texas~Instruments
108 \tgname platform\par}
115 Carlos \textsc{Jenkins}\\
116 Michal \textsc{Horn}\\
117 Michal \textsc{Sojka}\\[\baselineskip]
130 \section*{Revision history}
132 \noindent\begin{tabularx}{\linewidth}{|l|l|l|X|}
133 \rowcolor[gray]{0.9}\hline
134 Revision & Date & Author(s) & Comments \\ \hline
136 0.1 beta & 2014-12-04 & Sojka, Horn & Initial version \\ \hline
138 0.2 & 2015-02-16 & Sojka, Horn & Improvements, clarifications,
141 0.3 & 2015-03-31 & Sojka, Horn & Added sections
142 \ref{sec-changing-os}, \ref{sec:adding-new-funct} and \ref{sec:mult-single-thre}, minor updates. \\ \hline
153 \fancypagestyle{plain}{%
154 \fancyhf{} % clear all header and footer fields
155 \renewcommand{\footrulewidth}{0.4pt}
156 \renewcommand{\headrulewidth}{0pt}
157 \fancyfoot[L]{Version \input{version.tex}}
159 \fancyfoot[R]{Page {\thepage} of \pageref{LastPage}}
161 \renewcommand{\headrulewidth}{0.4pt}
162 \renewcommand{\footrulewidth}{0.4pt}
164 \fancyhead[R]{\includegraphics[width=1cm]{images/cvut.pdf}}
166 \fancyhead[L]{\nouppercase \leftmark}
167 \fancyfoot[L]{Version \input{version.tex}}
169 \fancyfoot[R]{Page {\thepage} of \pageref{LastPage}}
172 %\addtolength{\parskip}{\baselineskip} % Paragraph spacing
174 \chapter{Introduction}
175 \label{chap-introduction}
177 This text documents software part of Rapid Prototyping Platform (RPP)
178 project for Texas Instruments \tgname safety microcontroller. The
179 software consists of code generation target for Simulink Embedded
180 Coder, a low-level run-time C library and a tool for interactive
181 testing of hardware and software functionality.
183 Originally, the RPP project was created for TMS570 microcontroller and
184 the port to \tgname was derived from it under a contract with Eaton
187 The document contains step-by-step instructions for installation of
188 development tools, information about Simulink Coder configuration,
189 describes how to create new models as well as how to download the
190 resulting firmware to the hardware. It can also be used as a reference
191 for the testing tool, Matlab Simulink blocks and RPP Matlab Simulink
192 Code generator. Additionally, an overall description of the used
193 hardware platform and the architecture of included software is
197 \label{sec-background}
199 The Rapid Prototyping Platform is an control unit based on \develkitname
200 development kit from Texas Instruments. Cental to the kit is the
201 \mcuname MCU -- an ARM Cortex R4 based microcontroller developed by
202 Texas Instruments. This MCU contains several protective mechanisms
203 (two cores in lockstep, error correction mechanisms for SRAM and Flash
204 memory, voltage monitoring, etc.) to fulfill the requirements for
205 safety critical applications.
206 See~\cite{\tgrefman} for details.
208 In order to develop non-trivial applications for the RPP, an operating
209 system is necessary. The RPP is based on FreeRTOS -- a simple
210 opensource real-time operating system kernel. The FreeRTOS provides an
211 API for creating and managing and scheduling multiple tasks, memory
212 manager, semaphores, queues, mutexes, timers and a few of other
213 features which can be used in the applications.
214 See~\cite{usingthefreertos2009} for more details.
216 Even with the operating system it is quite hard and non-intuitive to
217 manipulate the hardware directly. That is the point when abstraction
218 comes into the play. The RPP software is made of several layers
219 implementing, from the bottom to the top, low-level device drivers,
220 hardware abstraction for common functionality on different hardware
221 and an API which is easy to use in applications. The operating system
222 and the basic software layers, can be compiled as a library and easily
223 used in any project. More details about the library can be found in
224 Chapter~\ref{chap-c-support-library} and in~\cite{michalhorn2013}.
226 Because human beings make mistakes and in safety critical applications
227 any mistake can cause damage, loos of money or in the worst case even
228 death of other people, the area for making mistakes has to be as small
229 as possible. An approach called Model-based development
230 \cite{modelbasedwiki2013} has been introduced to reduce the
231 probability of making mistakes. In model-based development, the
232 applications are designed at higher level from models and the
233 functionality of the models can be simulated in a computer before the
234 final application/hardware is finished. This allows to discover
235 potential errors earlier in the development process.
237 One commonly used tool-chain for model-based development is
238 Matlab/Simulink. In Simulink the application is developed as a model
239 made of interconnected blocks. Every block implements some
240 functionality. For example one block reads a value from an
241 analog-to-digital converter and provides the value as an input to
242 another block. This block can implement some clever algorithm and its
243 output is passed to another block, which sends the computed value as a
244 message over CAN bus to some other MCU. Such a model can be simulated
245 and tested even before the real hardware is available by replacinf the
246 input and output blocks with simulated ones. Once the hardware is
247 ready, C code is automatically generated from the model by a Simulink
248 Coder. The code is then compiled by the MCU compatible compiler and
249 downloaded to the MCU Flash memory on the device. Because every block
250 and code generated from the block has to pass a series of tests during
251 their development, the area for making mistakes during the application
252 development has been significantly reduced and developers can focus on
253 the application instead of the hardware and control software
254 implementation. More information about code generation can be found in
255 Chapter \ref{chap-simulink-coder-target}. For information about Matlab
256 Simulink, Embedded Coder and Simulink Coder, refer to
257 \cite{embeddedcoderreference2013, ebmeddedcoderusersguide2013,
258 simulinkcoderreference2013, targetlanguagecompiler2013,
259 simulinkcoderusersguide2013, simulinkdevelopingsfunctions2013}.
261 \section{Hardware description}
262 \label{sec-hardware-description}
264 This section provides a brief description of the Texas Instrument
265 \develkitname development kit. For a more detailed information refer to
266 \cite{\tghdkman}. The kit is depicted in
267 Figure~\ref{fig-board_photo}.
269 \begin{figure}\begin{center}
271 \includegraphics[width=300px]{images/board.png}
272 \caption{The \develkitname kit \cite[p. 8]{\tghdkman}}
273 \label{fig-board_photo}
274 \end{center}\end{figure}
276 Only a subset of peripherals available on the kit is currently
277 supported by the RPP software. A block diagram in
278 Figure~\ref{fig-blocks} ilustrates the supported peripherals and their
279 connection to the MCU, expansion connectors and other components on
280 the development kit. For pinout description of the implemented
281 peripherals refer the \tgname HDK User's Guide
282 \cite{\tghdkman}. The main features of supported
283 peripherals are provided in the following subsections.
285 \begin{figure}\begin{center}
287 \includegraphics[width=400px]{images/blocks.png}
288 \caption{Block diagram of supported peripherals}
290 \end{center}\end{figure}
292 \subsection{Digital Inputs and Outputs (DIN and DOUT)}
293 \label{par-digital-inputs-outputs}
295 \item 46 pins available on Expansion connector J11.
296 \item 8 pins available on GIOA
297 \item 8 pins available on GIOB
298 \item 30 pins available on NHET1. Pins NHET1 6 and NHET1 13 are disabled.
299 \item All the pins are configurable as inputs and outputs with different modes:
301 \item Push/Pull or Open Drain for Output configuration.
302 \item Pull up, Pull down or tri-stated for Input configuration.
304 \item Some of the pins are connected to LEDs or to a button. See
305 Figure~\ref{fig-blocks} or refer to~\cite{\tghdkman}.
308 \subsection{Analog Input (ADC)}
309 \label{par-analog-input}
310 \vbox{% Keep this on the same page
312 \item 16 channels available on the Expansion connector J9.
313 \item Range for 0 -- 5 Volts.
314 \item 12 bits resolution.
317 \subsection{CAN bus (CAN)}
320 \item Up to three CAN ports
322 \item 2 ports equipped with physical layer CAN transciever
323 connected to J2 and J3 connectors.
324 \item All 3 ports available as link-level interface on the
325 Expansion connector J11.
328 \item Recovery from errors.
329 \item Detection of network errors.
332 \subsection{Serial Communication Interface (SCI)}
335 \item 1 port available on connector J7.
336 \item Configurable baud rate. Tested with 9600 and 115200 bps.
337 \item RS232 compatible.
340 \section{Software architecture}
341 \label{sec-software-architecture}
343 The core of the RPP software is the so called RPP Library. This
344 library is conceptualy structured into 5 layers, depicted in
345 Figure~\ref{fig-layers}. The architecture design was driven by the
346 following guidelines:
349 \item Top-down dependency only. No lower layer depends on anything from
351 % \item 1-1 layer dependency only. The top layer depends
352 % exclusively on the bottom layer, not on any lower level layer (except for a
353 % couple of exceptions).
354 \item Each layer should provide a unified layer interface
355 (\texttt{rpp.h}, \texttt{drv.h}, \texttt {hal.h}, \texttt{sys.h} and
356 \texttt{os.h}), so that top layers depends on the layer interface
357 and not on individual elements from that layer.
363 \includegraphics[width=250px]{images/layers.pdf}
364 \caption{The RPP library layers.}
369 As a consequence of this division the source code files and interface files are
370 placed in private directories like \texttt{drv/din.h}. With this organization
371 user applications only needs to include the top layer interface files (for
372 example \texttt{rpp/rpp\_can.h}) to be able to use the selected library API.
374 The rest of the section provides basic description of each layer.
376 \subsection{Operating System layer}
377 \label{sec-operating-system-layer}
378 This is an interchangeable operating system layer, containing the
379 FreeRTOS source files. The system can be easily replaced by another
380 version. For example it is possible to compile the RPP library for
381 Linux (using POSIX version of the FreeRTOS), which can be desirable
382 for some testing. The source files can be found in the
383 \texttt{$\langle$rpp\_lib$\rangle$/os} folder.
385 The following FreeRTOS versions are distributed:
387 \item[6.0.4\_posix] POSIX version, usable for compilation of the library
389 \item[7.0.2] Preferred version of the FreeRTOS, distributed by
390 Texas Instruments. This version has been tested and is used in the current
391 version of the library.
392 \item[7.4.0] Newest version distributed by the Texas Instruments.
393 \item[7.4.2] Newer version available from FreeRTOS pages. Slightly
394 modified to run on \tgname MCU.
398 Both 7.4.x version were tested and work, but the testing was not so
399 extensive as with the used 7.0.2 version.
401 \subsection{System Layer}
402 \label{sec-system-layer}
403 This layer contains system files with data types definitions, clock definitions,
404 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
405 code for controlling some of the MCU peripherals. The source files can be found
406 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
407 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
410 Large part of this layer was generated by the HalCoGen tool (see
411 Section~\ref{sec-halcogen}).
413 \subsection{HAL abstraction layer}
414 \label{sec-hal-abstraction-layer}
415 Hardware Abstraction Layer (HAL) provides an abstraction over the real
416 hardware. For example imagine an IO port with 8 pins. First four pins
417 are connected directly to the GPIO pins on the MCU, another four pins
418 are connected to an external integrated circuit, communicating with
419 the MCU via SPI. This layer allows to control the IO pins
420 independently of how that are connected to the MCU, providing a single
423 Note that this functionality is not needed in the current version of
424 for \develkitname, because all IOs are controlled directly by GPIO pins.
426 As a result, the higher layers do not have to know anything about the
427 wiring of the peripherals, they can just call read, write or configure
428 function with a pin name as a parameter and the HAL handles all the
431 The source files can be found in
432 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/hal} and the header files can
433 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/hal} folder.
435 \subsection{Drivers layer}
436 \label{sec-drivers-layer}
437 The Drivers layer contains code for controlling the RPP peripherals.
438 Typically, it contains code implementing IRQ handling, software
439 queues, management threads, etc. The layer benefits from the lower
440 layers thus it is not too low level, but still there are some
441 peripherals like ADC, which need some special procedure for
442 initialization and running, that would not be very intuitive for the
445 The source files can be found in
446 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
447 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
449 \subsection{RPP Layer}
450 \label{sec-rpp-layer}
451 The RPP Layer is the highest layer of the library. It provides an easy
452 to use set of functions for every peripheral and requires only basic
453 knowledge about them. For example, to use the ADC, the user can just
454 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
455 Driver layer functions to initialize the hardware and software.
457 The source files can be found in
458 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
459 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
461 \section{Document structure}
462 \label{sec-document-structure}
463 The structure of this document is as follows:
464 Chapter~\ref{chap-getting-started} gets you started using the RPP
465 software. Chapter~\ref{chap-c-support-library} describes the RPP
466 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
467 code generation target and finally
468 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
469 testing of the RPP functionality.
471 \chapter{Getting started}
472 \label{chap-getting-started}
474 \section{Software requirements}
475 \label{sec-software-requirements}
476 The RPP software stack can be used on Windows and Linux platforms. The
477 following subsections mention the recommended versions of the required
478 software tools/packages.
480 \subsection{Linux environment}
481 \label{sec-linux-environment}
483 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
485 \item Kernel version 3.11.0-12.
486 \item GCC version 4.8.1
487 \item GtkTerm 0.99.7-rc1
488 \item TI Code Composer Studio 5.5.0.00077
489 \item Matlab 2013b 64b with Embedded Coder
490 \item HalCoGen 4.00 (optionally)
491 \item Uncrustify 0.59 (optionally, see Section \ref{sec-compilation})
492 \item Doxygen 1.8.4 (optionally, see Section \ref{sec-compiling-api-documentation})
493 \item Git 1.7.10.4 (optionally)
496 \subsection{Windows environment}
497 \label{sec-windows-environment}
499 \item Windows 7 Enterprise 64b Service Pack 1.
500 \item Microsoft Windows SDK v7.1
501 \item Bray Terminal v1.9b
502 \item TI Code Composer Studio 5.5.0.00077
503 \item Matlab 2013b 64b with Embedded Coder
504 \item HalCoGen 4.00 (optionally)
505 \item Doxygen 1.8.4 (optionally, see Section \ref{sec-compiling-api-documentation})
506 \item Uncrustify 0.59 (optionally, see Section \ref{sec-compilation})
507 \item Git 1.9.4.msysgit.2 (optionally)
510 \section{Software tools}
511 \label{sec-software-and-tools}
513 This section covers tool which are needed or recommended for work with
516 \subsection{TI Code Composer Studio}
518 Code Composer Studio (CCS) is the official Integrated Development Environment
519 (IDE) for developing applications for Texas Instruments embedded processors. CCS
520 is multiplatform software based on
521 Eclipse open source IDE.
523 CCS includes Texas Instruments Code Generation Tools (CGT)
524 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
525 (compiler, linker, etc). Simulink code generation target requires the
526 CGT to be available in the system, and thus, even if no library
527 development will be done or the IDE is not going to be used CCS is
530 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
531 for CGT archiver in \cite{armassemblylanguagetools2012}.
533 \subsubsection{Installation on Linux}
534 \label{sec-installation-on-linux}
535 Download CCS for Linux from:\\
536 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
538 Once downloaded, add executable permission to the installation file
539 and launch the installation by executing it. Installation must be done
540 by the root user in order to install a driver set.
542 \lstset{language=bash}
544 chmod +x ccs_setup_5.5.0.00077.bin
545 sudo ./ccs_setup_5.5.0.00077.bin
548 After installation the application can be executed with:
550 \lstset{language=bash}
552 cd <ccs>/ccsv5/eclipse/
556 The first launch on 64bits systems might fail. This can happen because CCS5 is
557 a 32 bit application and thus requires 32 bit libraries. They can be
560 \lstset{language=bash}
562 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
565 If the application crashes with a segmentation fault edit file:
567 \lstset{language=bash}
569 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
572 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
574 \subsubsection{Installation on Windows}
575 \label{sec-installation-on-windows}
576 Installation for Windows is more straightforward than the installation
577 procedure for Linux. Download CCS for Windows from:\\
578 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
580 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
582 \subsubsection{First launch}
583 \label{sec-first-launch}
584 If no other licence is available, choose ``FREE License -- for use
585 with XDS100 JTAG Emulators'' from the licensing options. Code download
586 for the board uses the XDS100 hardware.
588 \subsection{Matlab/Simulink}
589 \label{sec-matlab-simulink}
590 Matlab Simulink is a set of tools, runtime environment and development
591 environment for Model--Based \cite{modelbasedwiki2013} applications development,
592 simulations and generation code for target platforms. Supported Matlab Simulink
593 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
594 necessary to be able to generate code from Simulink models, containing RPP blocks.
596 \subsection{HalCoGen}
598 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.
600 The tool is available for Windows at
602 \url{http://www.ti.com/tool/halcogen?keyMatch=halcogen&tisearch=Search-EN}
605 The HalCoGen has been used in early development stage of the RPP
606 project to generate the base code for some of the peripheral. The
607 trend is to not to use the HalCoGen any more, because the generated
608 code is not reliable enough for safety critical applications. Anyway it is
609 sometimes helpful to use it as a reference.
611 The HalCoGen is distributed for Windows only, but can be run on Linux
612 under Wine (tested with Wine version 1.6.2).
614 \subsection{GtkTerm and Bray Terminal}
615 \label{sec-gtkterm-bray-terminal}
616 Most of the interaction with the board is done through a RS-232 serial
617 connection. The terminal software used for communication is called GtkTerm for
618 Linux and Bray terminal for Windows.
620 To install GtkTerm execute:
622 \lstset{language=bash}
624 sudo apt-get install gtkterm
627 The Bray Terminal does not require any installation and the executable file is
629 \url{https://sites.google.com/site/terminalbpp/}
631 \subsection{C Compiler}
632 \label{sec-c-compiler}
633 A C language compiler has to be available on the development system to be able to
634 compile Matlab Simulink blocks S-functions.
636 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
639 \lstset{language=bash}
641 sudo apt-get install gcc
644 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
645 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
647 \section{Project installation}
648 \label{sec-project-installation}
649 The RPP software is distributed in three packages and a standalone pdf
650 file containing this documentation. Every package is named like
651 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
655 \item[rpp-lib] Contains the source code of the RPP library, described
656 in Chapter \ref{chap-c-support-library}. If you want to make any
657 changes in the drivers or RPP API, this library has to be compiled
658 and linked with applications in the other two packages. The library compile
659 procedure can be found in Section \ref{sec-compilation}.
660 \item[rpp-simulink] Contains the source code of Matlab Simulink
661 blocks, demo models and scripts for downloading the generated
662 firmware to the target from Matlab/Simulink. Details can be
663 found in Chapter \ref{chap-simulink-coder-target}.
665 The package also contains the binary of the RPP Library and all its
666 headers and other files necessary for building and downloading the
668 \item[rpp-test-sw] Contains an application for interactive testing and
669 control of the RPP board over the serial interface. Details can be
670 found in Chapter~\ref{chap-rpp-test-software}.
672 The package also contains the binary of the RPP Library and all
673 headers and other files necessary for building and downloading the
677 The following sections describe how to start working with individual
681 \label{sec-rpp-lib-installation}
683 This section describes how to open the rpp-lib project in Code
684 Composer Studio and how to use the resulting static library in an
685 application. This is only necessary if you need to modify the library
689 \item Unzip the \texttt{rpp-lib-version.zip} file.
690 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
691 \item Import the rpp-lib project as described in
692 Section~\ref{sec-openning-of-existing-project}.
693 \item Compile the static library using the procedure from Section
694 \ref{sec-compilation}. The compiled library \texttt{rpp-lib.lib}
695 will appear in the project root directory.
696 \item Either copy the compiled library and the content of the
697 \texttt{rpp/include} directory to the application, where you
698 want to use it or use the library in place, as described in
699 Section~\ref{sec:creating-new-project}.
701 \item In the rpp-simulink application the library is located in
702 the \texttt{rpp/lib} folder.
703 \item In the rpp-test-sw application the library is located in
704 the \texttt{rpp-lib} folder.
708 \subsection{rpp-simulink}
709 \label{sec-rpp-simulink-installation}
710 This section describes how to install the rpp-simulink project, which
711 is needed to try the demo models or to build your own models that use
715 \item Unzip the \texttt{rpp-simulink-version.zip} file.
716 \item Follow the procedure from Section
717 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
718 Simulink for the RPP project.
719 \item Follow the procedure from Section \ref{sec-crating-new-model}
720 for instructions about creating your own model which will use the
721 RPP Simulink blocks or follow the instructions in
722 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
725 \subsection{rpp-test-sw}
726 \label{sec-test-sw-installation}
727 This section describes how to install and run the application that
728 allows you to interactively control the RPP hardware. This can be
729 useful, for example, to test your modifications of the RPP library.
732 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
733 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
734 \item Follow the procedure for opening the projects in CCS in
735 Section \ref{sec-openning-of-existing-project} and open both
736 \texttt{rpp-lib} and \texttt{rpp-test-sw} projects.
737 \item Right click on the \texttt{rpp-test-sw} project in the
738 \textsc{Project Explorer} and select \textsc{Build Project}.
739 \item Follow the instructions in
740 Section~\ref{sec-running-software-on-hw} to download, debug and
741 run the software on the target hardware. If CCS asks you whether
742 to proceed with the detected errors in \texttt{rpp-lib} project.
743 Ignore them and click the \textsc{Proceed} button to continue.
746 \section{Code Composer Studio usage}
747 \label{sec-code-composerpstudio-usage}
749 \subsection{Opening of existing project}
750 \label{sec-openning-of-existing-project}
751 The procedure for opening a project is similar to opening a project in
752 the standard Eclipse IDE.
755 \item Launch Code Composer Studio
756 \item Select \textsc{File$\rightarrow$Import}
757 \item In the dialog window select \textsc{Code Composer
758 Studio$\rightarrow$Existing CCS Eclipse project} as an import
759 source (see Figure \ref{fig-import-project}).
760 \item In the next dialog window click on \textsc{Browse} button
761 and find the root directory of the project.
762 \item Select the requested project in the \textsc{Discovered
763 project} section so that the result looks like in Figure
764 \ref{fig-select-project}.
765 \item Click the \textsc{Finish} button.
768 \begin{figure}[H]\begin{center}
769 \includegraphics[width=350px]{images/import_project.png}
770 \caption{Import project dialog}
771 \label{fig-import-project}
772 \end{center}\end{figure}
774 \begin{figure}[H]\begin{center}
775 \includegraphics[width=350px]{images/select_project.png}
776 \caption{Select project dialog}
777 \label{fig-select-project}
778 \end{center}\end{figure}
781 \subsection{Creating new project}
782 \label{sec:creating-new-project}
783 Follow these steps to create an application for \tgname MCU compiled with
787 \item Create a new empty CCS project. Select \mcuname device, XDS100v2
788 connection and set Linker command file to
789 \texttt{rpp-lib/rpp/\ldscriptname}.
791 \noindent\includegraphics[scale=0.45]{images/base_1.png}
793 \item In \textsc{Project Explorer}, create normal folders
794 named \texttt{include} and \texttt{src}.
796 \item If you use Git version control system, add \texttt{.gitignore}
797 file with the following content to the root of that project:
806 \item In project \textsc{Properties}, add new variable of type
807 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
811 \noindent\includegraphics[scale=.45]{images/base_2.png}
813 \item Configure the compiler \#include search path to contain
814 project's \texttt{include} directory, \penalty-100
815 \texttt{\$\{RPP\_LIB\_ROOT\}/os/7.0.2/include} and
816 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
818 \includegraphics[scale=.43]{images/base_5.png}
821 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
822 linked libraries before the runtime support library
823 (\texttt{rtsv7R4\_T\_le\_v3D16\_eabi.lib}).
825 \noindent\includegraphics[scale=.45]{images/base_3.png}
827 \item Configure the compiler to allow GCC extensions.
829 \noindent\includegraphics[scale=.45]{images/base_6.png}
832 \item Create \texttt{main.c} file with the following content:
833 \begin{lstlisting}[language=C]
839 rpp_sci_printf("Hello world\n");
840 vTaskStartScheduler();
841 return 0; /* not reached */
844 void vApplicationMallocFailedHook()
846 void vApplicationStackOverflowHook()
850 \item Compile the application by e.g. \textsc{Project $\rightarrow$
852 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
853 application will be downloaded to the processor and run. A
854 breakpoint is automatically placed at \texttt{main()} entry. To
855 continue executing the application select \textsc{Run} $\rightarrow$
857 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
858 that the linker script selected in step 1 is not excluded from the build.
859 You can do this by right clicking on the file \texttt{\ldscriptname}
860 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
861 item. The Code Composer Studio sometimes automaticaly excludes this file from
862 the build process when creating the new project.
864 % \item If not already created for another project, create new target
865 % configuration. Select \textsc{Windows $\rightarrow$ Show View
866 % $\rightarrow$ Target Configurations}. In the shown window, click
867 % on \textsc{New Target Configuration} icon and configure XDS100v2
868 % connection and \mcuname device as shown below. Click \textsc{Save},
869 % connect your board and click \textsc{Test Connection}.
872 % \includegraphics[width=\linewidth]{images/target_conf.png}
875 \item Optionally, you can change debugger configuration by selecting
876 \textsc{Run $\rightarrow$ Debug Configurations}. In the
877 \textsc{Target} tab, you can configure not to break at \texttt{main}
878 or not to erase the whole flash, but only necessary sectors (see the
881 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
886 \subsubsection{Steps to configure new POSIX application:}
887 Such an application can be used to test certain FreeRTOS features on
888 Linux and can be compiled with a native GCC compiler.
891 \item Create a new managed C project that uses Linux GCC toolchain.
892 \item Create a source folder \texttt{src}. Link all files from original
893 CCS application to this folder.
894 \item Create a normal folder \texttt{include}. Create a folder
895 \texttt{rpp} inside of it.
896 \item Add common \texttt{.gitignore} to the root of that project:
903 \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
904 repository branch root.\newline{}
905 \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
906 \item Configure compiler to include local includes, CCS application
907 includes, OS includes for POSIX and RPP includes, in that order.\newline{}
908 \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
910 \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
911 \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
912 \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
915 \subsubsection{Content of the application}
918 \item Include RPP library header file.
919 \lstset{language=c++}
924 If you want to reduce the size of the final application, you can
925 include only the headers of the needed modules. In that case, you
926 need to include two additional headers: \texttt{base.h} and, in case
927 when SCI is used for printing, \texttt{rpp/sci.h}.
929 #include "rpp/hbr.h" /* We want to use H-bridge */
930 #include <base.h> /* This is the necessary base header file of the rpp library. */
931 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
935 \item Create one or as many FreeRTOS task function definitions as
936 required. Those tasks can use functions from the RPP library. Beware
937 that currently not all RPP functions are
938 reentrant\footnote{Determining which functions are not reentrant and
939 marking them as such (or making them reentrant) is planned as
940 future work.}. \lstset{language=c++}
942 void my_task(void* p)
944 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
945 portTickType last_wake_time = xTaskGetTickCount();
947 /* Wait until next step */
948 vTaskDelayUntil(&last_wake_time, freq_ticks);
949 rpp_sci_printf((const char*)"Hello RPP.\r\n");
954 \item Create the main function that will:
956 \item Initialize the RPP board. If you have included only selected
957 modules in step 1, initialize only those modules by calling their init
959 example \texttt{rpp\_hbr\_init\(\)}.
960 \item Spawn the tasks the application requires. Refer to FreeRTOS API
962 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
964 \item Handle error when the FreeRTOS scheduler cannot be started.
966 \lstset{language=c++}
970 /* In case whole library is included: */
971 /* Initialize RPP board */
973 /* In case only selected modules are included: */
976 /* Initialize sci for printf */
978 /* Enable interrups */
982 if (xTaskCreate(my_task, (const signed char*)"my_task",
983 512, NULL, 0, NULL) != pdPASS) {
985 rpp_sci_printf((const char*)
986 "ERROR: Cannot spawn control task.\r\n"
992 /* Start the FreeRTOS Scheduler */
993 vTaskStartScheduler();
995 /* Catch scheduler start error */
997 rpp_sci_printf((const char*)
998 "ERROR: Problem allocating memory for idle task.\r\n"
1006 \item Create hook functions for FreeRTOS:
1008 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
1010 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
1013 \lstset{language=c++}
1015 #if configUSE_MALLOC_FAILED_HOOK == 1
1017 * FreeRTOS malloc() failed hook.
1019 void vApplicationMallocFailedHook(void) {
1021 rpp_sci_printf((const char*)
1022 "ERROR: manual memory allocation failed.\r\n"
1029 #if configCHECK_FOR_STACK_OVERFLOW > 0
1031 * FreeRTOS stack overflow hook.
1033 void vApplicationStackOverflowHook(xTaskHandle xTask,
1034 signed portCHAR *pcTaskName) {
1036 rpp_sci_printf((const char*)
1037 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
1049 \subsection{Downloading and running the software}
1050 \label{sec-running-software-on-hw}
1051 \subsubsection{Code Composer Studio Project}
1052 \label{sec-ccs-run-project}
1053 When the application is distributed as a CCS project, you have to open the
1054 project in the CCS as described in the Section
1055 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
1056 can be easily downloaded to the target hardware with the following procedure:
1059 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG
1061 \item Connect a USB cable to the XDS100v2 USB emulator and the
1062 development computer.
1063 \item Plug in the power supply.
1064 \item In the Code Composer Studio click on the
1065 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
1066 the download process will start. The Code Composer Studio will switch into the debug
1067 perspective, when the download is finished.
1068 \item Run the program by clicking on the \textsc{Run} button, with the
1072 \subsubsection{Binary File}
1073 \label{sec-binary-file}
1074 If the application is distributed as a binary file, without source code and CCS
1075 project files, you can download and run just the binary file by creating a new
1076 empty CCS project and configuring the debug session according to the following
1080 \item In Code Composer Studio click on
1081 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1082 \item In the dialog window, type in a project name, for example
1083 myBinaryLoad, Select \textsc{Device
1084 variant} (ARM, Cortex R, \mcuname, Texas Instruments XDS100v2 USB Emulator)
1085 and select project template to \textsc{Empty Project}. The filled dialog should
1086 look like in Figure~\ref{fig-new-empty-project}
1087 \item Click on the \textsc{Finish} button and a new empty project will
1089 \item In the \textsc{Project Explorer} right-click on the project and
1090 select \textsc{Debug as$\rightarrow$Debug configurations}.
1091 \item Click \textsc{New launch configuration} button
1092 \item Rename the New\_configuration to, for example, myConfiguration.
1093 \item Select configuration target file by clicking the \textsc{File
1094 System} button, finding and selecting the \texttt{\tgconfigfilename} file. The result
1095 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1096 \item In the \textsc{program} pane select the binary file you want to
1097 download to the board. Click on the \textsc{File System} button,
1098 find and select the binary file. Try, for example
1099 \texttt{rpp-test-sw.out}. The result should look like in
1100 Figure~\ref{fig-debug-conf-program-diag}.
1101 \item You may also tune the target configuration like in the Section
1102 \ref{sec-target-configuration}.
1103 \item Finish the configuration by clicking on the \textsc{Apply}
1104 button and download the code by clicking on the \textsc{Debug}
1105 button. You can later invoke the download also from the
1106 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1107 create more Debug configurations and CCS empty projects as you can
1108 easily change the binary file in the Debug configuration to load a
1109 different binary file.
1112 \begin{figure}[H]\begin{center}
1113 \includegraphics[scale=.45]{images/new_empty_project.png}
1114 \caption{New empty project dialog}
1115 \label{fig-new-empty-project}
1116 \end{center}\end{figure}
1118 \begin{figure}[H]\begin{center}
1119 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1120 \caption{Debug Configuration Main dialog}
1121 \label{fig-debug-conf-main-diag}
1122 \end{center}\end{figure}
1124 \subsection{Target configuration}
1125 \label{sec-target-configuration}
1126 Default target configuration erases the whole Flash memory, before
1127 downloading the code. This takes long time and in most cases it is
1128 not necessary. You may disable this feature by the following procedure:
1130 \item Right click on the project name in the \textsc{Project Browser}
1131 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1132 \item In the dialog window select \textsc{Target} pane.
1133 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1134 \textsc{Necessary sectors only}.
1135 \item Save the configuration by clicking on the \textsc{Apply} button
1136 and close the dialog.
1139 \begin{figure}[H]\begin{center}
1140 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1141 \caption{Configuration Program dialog}
1142 \label{fig-debug-conf-program-diag}
1143 \end{center}\end{figure}
1145 \section{Matlab Simulink usage}
1146 \label{sec-matlab-simulink-usage}
1147 This section describes the basic tasks for working with the RPP code
1148 generation target for Simulink. For a more detailed description of the
1149 code generation target refer to
1150 Chapter~\ref{chap-simulink-coder-target}.
1152 \subsection{Configuring Simulink for RPP}
1153 \label{sec-configuration-simulink-for-rpp}
1154 Before any work or experiments with the RPP blocks and models, the RPP
1155 target has to be configured to be able to find the ARM cross-compiler,
1156 native C compiler and some other necessary files. Also the S-Functions
1157 of the blocks have to be compiled by the mex tool.
1159 \item Download and install Code Composer Studio CCS (see
1160 Section~\ref{sec-ti-ccs}).
1161 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1162 \item On Windows you have to tell the \texttt{mex} which C compiler to
1163 use. In the Matlab command window run the \texttt{mex -setup}
1164 command and select the native C compiler.
1166 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1169 Welcome to mex -setup. This utility will help you set up
1170 a default compiler. For a list of supported compilers, see
1171 http://www.mathworks.com/support/compilers/R2013b/win64.html
1173 Please choose your compiler for building MEX-files:
1175 Would you like mex to locate installed compilers [y]/n? y
1178 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1184 Please verify your choices:
1186 Compiler: Microsoft Software Development Kit (SDK) 7.1
1187 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1189 Are these correct [y]/n? y
1191 ***************************************************************************
1192 Warning: MEX-files generated using Microsoft Windows Software Development
1193 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1194 libraries be available on the computer they are run on.
1195 If you plan to redistribute your MEX-files to other MATLAB
1196 users, be sure that they have the run-time libraries.
1197 ***************************************************************************
1200 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1201 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1205 **************************************************************************
1206 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1207 variables with more than 2^32-1 elements. In the near future
1208 you will be required to update your code to utilize the new
1209 API. You can find more information about this at:
1210 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1211 Building with the -largeArrayDims option enables the new API.
1212 **************************************************************************
1215 \item Configure the RPP code generation target:
1217 Open Matlab and in the command window run:
1219 \lstset{language=Matlab}
1221 cd <rpp-simulink>/rpp/rpp/
1225 This will launch the RPP setup script. This script will ask the user to provide
1226 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1227 binary is located), normally:
1230 <ccs>/tools/compiler/arm_5.X.X/
1233 Then Matlab path will be updated and block S-Functions will be built.
1235 \item Create new model or load a demo:
1237 Demos are located in \texttt{\repo/rpp/demos} or you can start a new
1238 model and configure target to RPP. For new models see Section
1239 \ref{sec-crating-new-model} below.
1243 \subsection{Working with demo models}
1244 \label{sec-openning-demo-models}
1245 The demo models are available from the directory
1246 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1247 for downloading to the RPP board open them in Matlab. Use either the
1248 GUI or the following commands:
1250 \begin{lstlisting}[language=Matlab]
1251 cd <rpp-simulink>/rpp/demos
1252 open cantransmit.slx
1255 The same procedure can be used to open any other models. To build the
1256 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1257 Model}. This will generate the C code and build the binary firmware
1258 for the RPP board. To run the model on the target hardware see
1259 Section~\ref{sec-running-model-on-hw}.
1261 \subsection{Creating new model}
1262 \label{sec-crating-new-model}
1264 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1265 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1266 \item The new Simulink model needs to be configured in the following way:
1268 \item Solver (Figure \ref{fig-solver}):
1270 \item Solver type: \emph{Fixed-step}
1271 \item Solver: \emph{discrete}
1272 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1274 \item Tasking mode: \textit{SingleTasking}.
1277 \includegraphics[scale=.45]{images/simulink_solver.png}
1278 \caption{Solver settings}
1282 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1283 % \begin{compactitem}
1284 % \item Disable warning ``Source block specifies -1 sampling
1285 % time''. It's ok for the source blocks to run once per tick.
1288 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1289 % \caption{Sample Time settings}
1290 % \label{fig-sample-time-settings}
1293 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1295 \item Set ``System target file'' to \texttt{rpp.tlc}.
1298 \includegraphics[scale=.45]{images/simulink_code.png}
1299 \caption{Code Generation settings}
1300 \label{fig-code-gen-settings}
1304 \item Once the model is configured, you can open the Library Browser
1305 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1306 blocks to create the model. The RPP-specific blocks are located in
1307 the RPP Block Library.
1308 \item From Matlab command window change the current directory to where
1309 you want your generated code to appear, e.g.:
1310 \begin{lstlisting}[language=Matlab]
1313 The code will be generated in a subdirectory named
1314 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1316 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1317 Code $\rightarrow$ Build Model}.
1320 If you want to run the model on the RPP board, see Section
1321 \ref{sec-running-model-on-hw}.
1323 \subsection{Running models on the RPP board}
1324 \label{sec-running-model-on-hw}
1325 To run the model on the target RPP hardware you have to enable the download
1326 feature and build the model by following this procedure:
1328 \item Open the model you want to run (see
1329 Section~\ref{sec-openning-demo-models} for example with demo
1331 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1333 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1334 check the \textsc{Download compiled binary to RPP} checkbox.
1335 \item Click the \textsc{OK} button, connect the target HW to the computer
1336 like in the Section \ref{sec-ccs-run-project} and build the model by \textsc{Code $\rightarrow$ C/C++
1337 Code $\rightarrow$ Build Model}. If the build
1338 ends with a success, the download process will start and once the downloading is
1339 finished, the application will run immediatelly.
1342 %%\subsubsection{Using OpenOCD for downloading}
1343 %%\label{sec:using-open-downl}
1345 %%On Linux systems, it is possible to use an alternative download
1346 %%mechanism based on the OpenOCD tool. This results in much shorter
1347 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1348 %%download the compiled binary'' checkbox. For more information about
1349 %%the OpenOCD configuration refer to our
1350 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1352 %%Note: You should close any ongoing Code Composer Studio debug sessions
1353 %%before downloading the generated code to the RPP board. Otherwise the
1356 \section{Configuring serial interface}
1357 \label{sec-configuration-serial-interface}
1358 The main mean for communication with the RPP board is the serial line.
1359 Each application may define its own serial line settings, but the
1360 following settings is the default one:
1363 \item Baudrate: 115200
1367 \item Flow control: none
1370 Use GtkTerm in Linux or Bray Terminal for accessing the serial
1371 interface. On \develkitname, the serial line is tunneled over the USB
1372 cable. % See Section \ref{sec-hardware-description} for reference about
1373 % the position of the serial interface connector on the RPP board.
1375 \section{Bug reporting}
1376 \label{sec-bug-reporting}
1378 Please report any problems to CTU's bug tracking system at
1379 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1380 to register in the system and notify Michal Sojka about their
1381 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1384 \chapter{C Support Library}
1385 \label{chap-c-support-library}
1387 This chapter describes the implementation of the C support library
1388 (RPP Library), which is used both for Simulink code generation target
1389 and command line testing tool.
1391 \section{Introduction}
1392 \label{sec-description}
1393 The RPP C Support Library (also called RPP library) defines the API for
1394 working with the board. It includes drivers and an operating system.
1396 designed from the board user perspective and exposes a simplified high-level API
1397 to handle the board's peripheral modules in a safe manner. The library is
1398 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1399 \texttt{\repo/rpp/lib}.
1401 The RPP library can be used in any project, where the RPP hardware
1402 support is required and it is also used in two applications --
1403 Simulink Coder target, described in Chapter
1404 \ref{chap-simulink-coder-target}, and the command line testing tool,
1405 described in Chapter \ref{chap-rpp-test-software}.
1407 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1409 \section{API development guidelines}
1410 \label{sec-api-development-guidlines}
1412 The following are the development guidelines used for developing the RPP API:
1415 \item User documentation should be placed in header files, not in source
1416 code, and should be Doxygen formatted using autobrief. Documentation for each
1417 function present is mandatory.
1418 \item Function declarations in the headers files is for public functions
1419 only. Do not declare local/static/private functions in the header.
1420 \item Documentation in source code files should be non-doxygen formatted
1421 and intended for developers, not users. Documentation here is optional and at
1422 the discretion of the developer.
1423 \item Always use standard data types for IO when possible. Use custom
1424 structs as very last resort. \item Use prefix based functions names to avoid
1425 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1426 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1428 \item Be very careful about symbol export. Because it is used as a
1429 static library the modules should not export any symbol that is not intended to
1430 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1431 of thumb declare all global variables as static.
1432 \item Only the RPP Layer symbols are available to user applications. All
1433 information related to lower layers is hidden for the application. This is
1434 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1435 implementations files only and never on the interface files. Never expose any
1436 other layer to the application or to the whole system below the RPP layer. In
1437 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1441 \section{Coding style}
1442 \label{sec-coding-style}
1443 In order to keep the code as clean as possible, unified coding style
1444 should be followed by any contributor to the code. The used coding
1445 style is based on the default configuration of Code Composer Studio
1446 editor. Most notable rule is that the Tab character is 4 spaces.
1448 The RPP library project is prepared for use of a tool named
1449 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1450 that do not match the coding style. However, keep in mind that the
1451 program is not perfect and sometimes it can modify code where the
1452 suggested coding style has been followed. This does not causes
1453 problems as long as the contributor follows the committing procedure
1454 described in next paragraph.
1456 When contributing to the code, the contributor should learn the
1457 current coding style from existing code. When a new feature is
1458 implemented and committed to the local repository, the following
1459 commands should be called in Linux terminal:
1461 \begin{lstlisting}[language=bash]
1465 The first line command corrects many found coding style violations and
1466 the second command displays them. If the user agree with the
1467 modification, he/she should amend the last commit, for example by:
1468 \begin{lstlisting}[language=bash]
1473 \section{Subdirectory content description}
1474 \label{sec-rpp-lib-subdirectory-content-description}
1476 The following files and directories are present in the library source
1480 \item[rpp-lib.lib and librpp.a] static RPP libraries.
1482 The first one is the library for Simulink models and other ARM/\tgname
1483 applications, the other can be used for POSIX simulation. This files
1484 are placed here by the Makefile, when the library is built.
1486 \item[apps/] Demo applications related to the RPP library.
1488 This include the CCS studio project for generating of the static
1489 library and a test suite. The test suit in this directory has
1490 nothing common with the test suite described later in
1491 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1492 to be merged in the future. Also other Hello World applications are
1493 included as a reference about how to create an \tgname application.
1494 \item[os/] OS layers directory. See
1495 Section~\ref{sec-operating-system-layer} for more information about
1496 currently available operating system versions and
1497 Section~\ref{sec-changing-os} for information how to replace the
1499 \item[rpp/] Main directory for the RPP library.
1500 \item[rpp/doc/] RPP Library API
1502 \item[rpp/\ldscriptname] CGT Linker command file.
1504 This file is used by all applications linked for the RPP board,
1505 including the Simulink models and test suite. It includes
1506 instructions for the CGT Linker about target memory layout and where
1507 to place various code sections.
1508 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1509 implementations files for given \texttt{\{layer\}}. See
1510 Section~\ref{sec-software-architecture} for details on the RPP
1512 \item[rpp/include/rpp/rpp.h] Main library header file.
1514 To use this library with all its modules, just include this file
1515 only. Also, before using any library function call the
1516 \texttt{rpp\_init()} function for hardware initialization.
1517 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1518 \texttt{\{mnemonic\}} module.
1520 These files includes function definitions, pin definitions, etc,
1521 specific to \{mnemonic\} module. See also
1522 Section~\ref{sec-api-development-guidlines}.
1524 If you want to use only a subset of library functions and make the
1525 resulting binary smaller, you may include only selected
1526 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1527 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1528 \texttt{rpp.h} and \texttt{rpp\_init} function.
1529 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1531 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1532 top of the DRV library.
1533 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1536 \section{Compilation}
1537 \label{sec-compilation}
1539 To compile the library open the Code Composer studio project
1540 \texttt{rpp-lib} (see Section~\ref{sec-openning-of-existing-project})
1541 and build the project (\textsc{Project $\rightarrow$ Build Project}).
1542 If the build process is successful, the \texttt{rpp-lib.lib} file will
1543 appear in the library root directory.
1545 It is also possible to compile the library using the included
1546 \texttt{Makefile}. From the Linux command line run:
1547 \begin{lstlisting}[language=bash]
1551 Note that this only works if Code Composer Studio is installed in
1552 \texttt{/opt/ti} directory. Otherwise, you have to set
1553 \texttt{CCS\_UTILS\_DIR} variable.
1555 On Windows command line run:
1556 \begin{lstlisting}[language=bash]
1558 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1559 C:\ti\ccsv5\utils\bin\gmake.exe lib
1562 You have to use \texttt{gmake.exe} is instead of \texttt{make} and it
1563 is necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You
1564 can also edit \texttt{\repo/Debug/GNUmakefile} and set the variable
1567 Note that the Makefile still requires the Code Composer Studio (ARM
1568 compiler) to be installed because of the CGT.
1570 \section{Compiling applications using the RPP library}
1571 \label{sec:comp-appl-using}
1573 The relevant aspects for compiling and linking an application using
1574 the RPP library are summarized below.
1576 \subsection{ARM target (RPP board)}
1577 \label{sec:arm-target-rpp}
1579 The detailed instructions are presented in
1580 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1584 \item Configure include search path to contain the directory of
1585 used FreeRTOS version, e.g.
1586 \texttt{\repo/os/7.0.2/include}. See Section
1587 \ref{sec-software-architecture}.
1588 \item Include \texttt{rpp/rpp.h} header file or just the needed
1589 peripheral specific header files such as \texttt{rpp/can.h}.
1590 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1591 The RPP library must be placed before Texas Instruments
1592 support library \texttt{rtsv7R4\_T\_le\_v3D16\_eabi.lib}.
1593 \item Use the provided linker command file
1594 \texttt{\ldscriptname}.
1597 \subsection{POSIX target}
1598 \label{sec:posix-target}
1601 \item Include headers files of the OS for Simulation. At the time
1602 of this writing the OS is POSIX FreeRTOS 6.0.4.
1603 \item Include header files for the RPP library or for modules you
1604 want to use (rpp\_can.h for CAN module for example).
1605 \item Add library \texttt{librpp.a} to the linker libraries.
1606 \item Add \texttt{pthread} to the linker libraries.
1609 \section{Compiling API documentation}
1610 \label{sec-compiling-api-documentation}
1611 The documentation of the RPP layer is formatted using Doxygen
1612 documentation generator. This allows to generate a high quality API
1613 reference. To generate the API reference run in a Linux terminal:
1615 \lstset{language=bash}
1617 cd <repo>/rpp/doc/api
1619 xdg-open html/index.html
1622 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1623 reference generation are their name is self-explanatory:
1633 \section{Changing operating system}
1634 \label{sec-changing-os}
1635 The C Support Library contains by default the FreeRTOS operating
1636 system in version 7.0.2. This section describes what is necessary to
1637 change in the library and other packages in order to replace the
1640 \subsection{Operating system code and API}
1642 The source and header files of the current operating system (OS) are
1643 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1644 operating system should also be placed in this directory.
1646 To make the methods and resources of the new OS available to the C Support
1647 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1648 the operating system header files.
1650 Current implementation for FreeRTOS includes a header file
1651 \texttt{\repo/rpp/lib/os/\-7.0.2\-include/os.h}, which
1652 contains all necessary declarations and definitions for the FreeRTOS.
1653 We suggest to provide a similar header file for your operating system as
1656 In order to compile another operating system into the library, it is
1657 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1658 contains a list of files that are compiled into the library. All lines
1659 starting with \texttt{os/} should be updated.
1661 \subsection{Device drivers}
1662 Drivers for SCI and ADC depend on the FreeRTOS features. These
1663 features need to be replaced by equivalent features of the new
1664 operating system. Those files should be modified:
1666 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1667 structure, referring to FreeRTOS queue and semaphore.
1668 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1670 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1671 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1672 suggest replacing this with OS independent type, e.g. number of
1673 milliseconds to wait, with $-1$ meaning infinite waiting time.
1674 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1675 specific features: semaphores, queues, data types
1676 (\texttt{portBASE\_TYPE}) and
1677 critical sections (\texttt{taskENTER\_CRITICAL} and
1678 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1679 task preemption is disabled. The same should be ensured by the other
1680 operating system or the driver should be rewritten to use other
1681 synchronization primitives.
1682 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1685 \subsection{System start}
1686 The initialization of the MCU and the system is in the
1687 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1688 operating system needs to handle interrupts generated by the Real-Time
1689 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1690 \texttt{vPreemptiveTick} has to be replaced.
1692 \subsection{Simulink template for main function}
1694 When the operating system in the library is replaced, the users of the
1695 library must be changed as well. In case of Simulink code generation
1696 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1697 template for generation of the \texttt{ert\_main.c} file, containing
1698 the main function, has to be modified to use proper functions for task
1699 creation, task timing and semaphores. The template is stored in
1700 \texttt{\repo/rpp/rpp/rpp\_srmain.tlc} file.
1702 \chapter{Simulink Coder Target}
1703 \label{chap-simulink-coder-target}
1705 The Simulink Coder Target allows to convert Simulink models to a C code,
1706 compile it and download to the board.
1708 \section{Introduction}
1709 \label{sec-introduction}
1711 The Simulink RPP Target provides support for C source code generation from Simulink models and
1712 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1713 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1714 Code Composer Studio, and thus it depends on it for proper functioning.
1716 This target also provides support for automatic download of the compiled binary to the RPP
1719 \begin{figure}[H]\begin{center}
1721 \includegraphics[scale=.45]{images/tlc_process.png}
1722 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1723 \end{center}\end{figure}
1725 \section{Features and limitations}
1726 \label{sec-features}
1729 \item Sampling frequencies up to 1\,kHz.
1730 \item Multi-rate models are executed in a single thread in
1731 non-preemptive manner. Support for multi-threaded execution will be
1732 available in the final version and will require careful audit of the
1733 RPP library with respect to thread-safe code.
1734 \item No External mode support yet. We work on it.
1735 \item Custom compiler options, available via OPTS variable in
1736 \emph{Make command} at \emph{Code Generation} tab (see Figure
1737 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1741 \section{RPP Options pane}
1742 \label{sec-rpp-target-options}
1744 The RPP Target includes the following configuration options, all of them
1745 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1746 \textsc{RPP Options}:
1749 \item \textbf{C system stack size}: this parameter is passed directly
1750 to the linker for the allocation of the stack. Note that this stack
1751 is used only for initializing the application and FreeRTOS. Once
1752 everything is initialized, another stack is used by the generated
1753 code. See below. Default value is 4096.
1755 \item \textbf{C system heap size}:
1756 \label{sec-rpp-target-options-heap-size} this parameter is passed
1757 directly to the linker for the allocation of the heap. Currently,
1758 the heap is not used, but will be used by the external mode in the future.
1759 Note that FreeRTOS uses its own heap whose size is independent of this
1761 \item \textbf{Model step task stack size}: this parameter will be
1762 passed to the \texttt{xTaskCreate()} that
1763 creates the task for the model to run. In a Simulink model there are always two tasks:
1765 \item The worker task. This task is the one that executes the model
1766 step. This task requires enough stack memory to execute the step.
1767 If your model does not run, it might be caused by too small stack.
1768 The memory needed for the stack depends on the size and structure
1770 \item The control task. This task controls when the worker task should execute and controls overruns.
1773 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1774 the board after the model is successfully built. Note that this option is unaware of the option
1775 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1776 only source code has been generated, failing graciously or uploading an old binary laying around
1777 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1778 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1779 script can be found in:
1781 <css>/ccs_base/scripting/examples/loadti/readme.txt
1782 http://processors.wiki.ti.com/index.php/Loadti
1785 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1786 download of the generated program, leaving the loaded program running.
1788 The \texttt{loadopenocd.sh} script will close after the download of the
1789 generated program as well, but the program will be stopped. In order to run
1790 the loaded program a manual reset of the board is required.
1792 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1793 implemented for the simulink target.
1795 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1796 implemented for the \mcuname simulink target.
1798 \item \textbf{Print model metadata to SCI at start}: if set this option will
1799 print a message to the Serial Communication Interface when the model start
1800 execution on the board. This is very helpful to identify the model running on
1801 the board. The message is in the form:
1804 `model_name' - generated_date (TLC tlc_version)
1809 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1813 \section{Subdirectory content description}
1814 \label{sec-simulink-subdirectory-content-description}
1815 This section describes the directories of the Simulink Coder. If you are
1816 interested in particular file, refer the description at the beginning of the
1820 \item[doc/] Contains the sources of the documentation, you are now
1822 \item[refs/] Contains third party references, which license allows the
1824 \item[rpp/blocks] Contains the TLC files, which defines the blocks for
1825 the Matlab Simulink and \texttt{rpp\_lib.slx}, which is the Simulink RPP
1826 Library, containing all the Simulink blocks for RPP.
1827 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1828 Matlab Simulink model.
1829 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1830 reference for the usage and for testing.
1831 \item[rpp/lib] Contains the C Support Library. See Chapter
1832 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1833 for Linux support of the OpenOCD, for code downloading to the target.
1834 \item[rpp/loadti] Contains download scripts for Linux and Windows
1835 support for code downloading to the target, using Texas Instruments CCS code
1837 \item[rpp/rpp] Contains set of support script for the Code Generator.
1840 \section{Block Library Overview}
1841 \label{sec-block-library-overview}
1842 The Simulink Block Library is a set of blocks that allows Simulink models to use
1843 board IO and communication peripherals. The available blocks are summarized in
1844 Table~\ref{tab:block-lib-status} and more detailed description is
1845 given in Section~\ref{sec-blocks-description}.
1848 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1850 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1852 \input{block_table.tex}
1854 \end{tabular}\end{center}
1856 \caption{Block library overview}
1857 \label{tab:block-lib-status}
1860 \label{sec-blocks-implementation}
1861 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1862 approach taken is briefly explained.
1864 \subsection{C MEX S-Functions}
1865 \label{sec-c-mex-functions}
1867 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1868 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1869 \item S-Function: System Function, as opposed to standard functions, or user functions.
1872 A C MEX S-Function is a structured C file that implements some mandatory and
1873 optional callbacks for a specification of a number of inputs, outputs, data
1874 types, parameters, rate, validity checking, etc. A complete list of callbacks
1877 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1880 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1881 diagram \ref{fig-sfunctions-process}:
1883 \begin{figure}[H]\begin{center}
1885 \includegraphics[scale=.45]{images/sfunctions_process.png}
1886 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1887 \label{fig-sfunctions-process}
1888 \end{center}\end{figure}
1890 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1891 the RPP blocks are for hardware peripherals control and IO the blocks are
1892 implemented as pure sink or pure source, the S-Function is just a descriptor of
1893 the block and does not perform any calculation and does not provide any input or
1894 output for simulations.
1896 The implementation of the S-Functions in the RPP project has following layout:
1899 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1900 \item Include header file \texttt{header.c}, which in connection with
1901 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1902 \item In \texttt{mdlInitializeSizes} define:
1904 \item Number of \textit{dialog} parameter.
1905 \item Number of input ports.
1907 \item Data type of each input port.
1909 \item Number of output ports.
1911 \item Data type of each output port.
1913 \item Standard options for driver blocks.
1915 \item In \texttt{mdlCheckParameters}:
1917 \item Check data type of each parameter.
1918 \item Check range, if applicable, of each parameter.
1920 \item In \texttt{mdlSetWorkWidths}:
1922 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1924 \item Data type of each \textit{runtime} parameter.
1927 \item Define symbols for unused functions.
1928 \item Include trailer file \texttt{trailer.c}.
1931 The C MEX S-Function implemented can be compiled with the following command:
1933 \lstset{language=bash}
1935 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1938 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1939 and use lower case mnemonic of the block.
1941 Also a script called \texttt{compile\_blocks.m} is included. The script that
1942 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1943 all S-Functions are compiled at once. To use this script, in Matlab do:
1945 \lstset{language=Matlab}
1947 cd <repo>/rpp/blocks/
1951 \subsection{Target Language Compiler files}
1952 \label{sec-target-language-compiler-files}
1954 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1955 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1956 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1957 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1960 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1961 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1962 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
1964 The TLC files implemented for this project use 3 hook functions in particular (other are available,
1965 see TLC reference documentation):
1967 \item \texttt{BlockTypeSetup}: \newline{}
1968 BlockTypeSetup executes once per block type before code generation begins.
1969 This function can be used to include elements required by this block type, like includes or
1971 \item \texttt{Start}: \newline{}
1972 Code here will be placed in the \texttt{void
1973 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
1975 \item \texttt{Outputs}: \newline{}
1976 Code here will be placed in the \texttt{void
1977 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
1978 inputs o a block and/or to set the outputs of that block.
1981 The general layout of the TLC files implemented for this project are:
1983 \item In \texttt{BlockTypeSetup}: \newline{}
1984 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
1985 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
1986 \item \texttt{Start}: \newline{}
1987 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
1988 DAC value initialization, SCI baud rate setup, among others.
1989 \item \texttt{Outputs}: \newline{}
1990 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
1991 is checked and in case of failure error is reported to the block using ErrFlag.
1994 C code generated from a Simulink model is placed on a file called
1995 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
1996 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
1997 For example, the source code generated for model \texttt{foobar} will be placed
1998 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
2000 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
2002 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
2003 This function recalculates all the outputs of the blocks and should be called once per step. This
2004 is the main working function.
2005 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
2006 This function is called only once before the first step is issued. Default values for blocks IOs
2007 should be placed here.
2008 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
2009 This function is called when terminating the model. This should be used to free memory of revert
2010 other operations made on the initialization function. With current implementation this function
2011 should never be called unless an error is detected and in most models it is empty.
2014 \section{Block reference}
2015 \label{sec-blocks-description}
2017 This section describes each one of the Simulink blocks present in the Simulink
2018 RPP block library, shown in Figure \ref{fig-block-library}.
2022 \includegraphics[width=\textwidth]{images/block_library.png}
2024 \caption{Simulink RPP Block Library.}
2025 \label{fig-block-library}
2028 \input{block_desc.tex}
2030 \section{Compilation}
2031 \label{sec-simulink-compilation}
2032 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:
2033 \lstset{language=Matlab}
2035 cd <rpp-simulink>/rpp/blocks
2039 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:
2042 \item Open Matlab and run those commands in the Matlab command line:
2043 \lstset{language=Matlab}
2045 cd <rpp-simulink>/rpp/demos
2048 \item Run those commands in a Linux terminal:
2049 \begin{lstlisting}[language=bash]
2050 cd <rpp-simulink>/rpp/demos
2054 or Windows command line:
2056 \begin{lstlisting}[language=bash]
2057 cd <rpp-simulink>\rpp\demos
2058 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2061 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}.
2064 \section{Adding new functionality}
2065 \label{sec:adding-new-funct}
2066 This section describes how to create new Simulink blocks and how to add them to the RPP
2067 blocks library. The new block creation process consists of several steps:
2069 \item Addition of the new functionality to the RPP C support library.
2070 \item Definition of the block in a C file (Section~\ref{sec:block-definition-c})
2071 \item Compilation of the block definition to C MEX file
2072 (Section~\ref{sec:c-mex-file})
2073 \item Creation of the code generator template (TLC) file
2074 (Section~\ref{sec:tlc-file-creation}).
2075 \item Creation of an S-Function block in the RPP block library
2076 and ``connecting'' of this block to the C MEX and TLC files
2077 (Section~\ref{sec:creation-an-s})
2078 \item Optional: Creation of the mask for the new block. The mask
2079 specifies graphical representation of the block as well as
2080 the content of the block parameters dialog box.
2082 The following subsections demonstrates the procedure on an example of a simple user defined block.
2084 \subsection{Block definition in a C file}
2085 \label{sec:block-definition-c}
2086 In order to use a custom block in the Simulink model, Simulink must know
2087 a certain number of block attributes, such as the number and type of
2088 block inputs, outputs and parameters. These attributes are specified
2089 by a set of functions in a C file. This C file gets compiled by a MEX
2090 compiler into a C MEX file and is then used in an S-Function block.
2091 Simulink calls the functions in the C MEX file to obtain the above
2092 mentioned block attributes. In case of RPP blocks, no other
2093 functionality is present in the C MEX file.
2095 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2096 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2097 the C files as a reference.
2099 Every C file that will be used with the RPP library should begin with
2100 a block of text in the YAML\footnote{\url{http://yaml.org/},
2101 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2102 this block is used to automatically generate both printed and on-line
2103 documentation. Although this block is not mandatory, it is highly
2104 recommended, as it helps keeping the documentation consistent and
2107 The YAML documentation block may look like this:
2108 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2112 Name: Name Of The Block
2118 - { name: "Some Input Signal", type: "bool" }
2121 - { name: "Some Output Signal", type: "bool" }
2125 # Description and Help is in Markdown mark-up
2128 This is a stub of an example block.
2132 This block is a part of an example about how to create
2133 new Matlab Simulink blocks for RPP board.
2137 RPP API functions used:
2145 Following parts are obligatory and the block will not work without them. It starts with a
2146 definition of the block name and inclusion of a common source file:
2148 \begin{lstlisting}[language=c]
2149 #define S_FUNCTION_NAME sfunction_myblock
2153 To let Simulink know the type of the inputs, outputs and how many parameters
2154 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2156 \begin{lstlisting}[language=c]
2157 static void mdlInitializeSizes(SimStruct *S)
2159 /* The block will have no parameters. */
2160 if (!rppSetNumParams(S, 0)) {
2163 /* The block will have one input signal. */
2164 if (!ssSetNumInputPorts(S, 1)) {
2167 /* The input signal will be of type boolean */
2168 rppAddInputPort(S, 0, SS_BOOLEAN);
2169 /* The block will have one output signal */
2170 if (!ssSetNumOutputPorts(S, 1)) {
2173 /* The output signal will be of type boolean */
2174 rppAddOutputPort(S, 0, SS_BOOLEAN);
2176 rppSetStandardOptions(S);
2180 The C file may contain several other optional functions definitions for parameters check,
2181 run-time parameters definition and so on. For information about those functions refer the comments
2182 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2184 The minimal C file compilable into C MEX has to contain following
2185 macros to avoid linker error messages about some of the optional
2186 functions not being defined:
2187 \begin{lstlisting}[language=c]
2188 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2189 #define UNUSED_MDLCHECKPARAMETERS
2190 #define UNUSED_MDLOUTPUTS
2191 #define UNUSED_MDLTERMINATE
2194 Every C file should end by inclusion of a common trailer source file:
2196 \begin{lstlisting}[language=c]
2197 #include "trailer.c"
2200 \subsection{C MEX file compilation}
2201 \label{sec:c-mex-file}
2202 In order to compile the created C file, the development environment
2203 has to be configured first as described in
2204 Section~\ref{sec-matlab-simulink-usage}.
2206 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2207 into C MEX by running script
2208 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2209 prompt. If your block requires some special compiler options, edit the
2210 script and add a branch for your block.
2212 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2213 from Matlab command prompt.
2215 \subsection{TLC file creation}
2216 \label{sec:tlc-file-creation}
2217 The TLC file is a template used by the code generator to generate the
2218 C code for the RPP board. The TLC files are stored in
2219 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2220 same (except for the extension) as the names of the corresponding
2221 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2222 free to open any of the TLC files as a reference.
2224 TLC files for RPP blocks should contain a header:
2225 \begin{lstlisting}[language=c]
2226 %implements sfunction_myblock "C"
2227 %include "common.tlc"
2230 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:
2232 \item BlockTypeSetup
2233 \item BlockInstanceSetup
2238 For detail description about each one of those functions, refer to
2239 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2240 some code may look like this:
2241 \begin{lstlisting}[language=c]
2242 %implements sfunction_myblock "C"
2243 %include "common.tlc"
2245 %function BlockTypeSetup(block, system) void
2246 %% Ensure required header files are included
2247 %<RppCommonBlockTypeSetup(block, system)>
2248 %<LibAddToCommonIncludes("rpp/sci.h")>
2251 %function Outputs(block, system) Output
2252 %if !SLibCodeGenForSim()
2253 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2254 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2256 %<out_signal> = !%<in_signal>;
2257 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2263 The above template causes the generated code to contain
2264 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2265 executed, its output will be the negation of its input and the value
2266 of the input signal will be printed to the serial line.
2268 \subsection{Creation of an S-Function block in the RPP block library}
2269 \label{sec:creation-an-s}
2270 User defined blocks in Simulink can be included in the model as
2271 S-Function blocks. Follow this procedure to create a new block in the
2274 \item Open the \texttt{\repo/rpp/blocks/rpp\_lib.slx} file in Matlab.
2275 \item Unlock it for editing by choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2276 \item Open a Simulink Library Browser (\textsc{View$\rightarrow$Library Browser}) and from
2277 \textsc{Simulink$\rightarrow$User-Defined Functions} drag the S-Function block and drop it in the
2279 \item Double click on the just created S-Function block and in the
2280 dialog window write the name of the S-Functions C MEX file without
2281 the extension (e.g. sfunction\_myblock) in the \textsc{S-function
2283 \item If your block has some parameters, write their names in the \textsc{S-function parameters}
2284 field, separated by commas. The result should like like in the Figure~\ref{fig-simulink_s_fun_cfg}.
2285 \item Now you should see the new Simulink block with the right
2286 number of inputs and outputs.
2287 \item Optional: Every user-defined block should have a
2288 \emph{mask}, which provides some useful information about
2289 the name of the block, configuration dialog for parameters
2290 and names of the IO signals. The block can be used even
2291 without the mask, but it is not as user friendly as with the
2292 proper mask. See \cite[Section ``Block
2293 Masks'']{mathworks13:simul_2013b} for more information.
2294 \item Save the library and follow the procedure in
2295 Section~\ref{sec-crating-new-model} to use the new block in
2298 \begin{figure}[H]\begin{center}
2300 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2301 \caption{Configuration dialog for user defined S-function.}
2302 \label{fig-simulink_s_fun_cfg}
2303 \end{center}\end{figure}
2307 \section{Demos reference}
2308 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2309 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2311 This demos library is used as a test suite for the Simulink RPP Block Library
2312 but they are also intended to show basic programs built using it. Because of
2313 this, the demos try to use more than one
2314 type of block and more than one block per block type.
2316 In the reference below you can find a complete description for each of the demos.
2318 \subsection{ADC demo}
2319 \begin{figure}[H]\begin{center}
2321 \includegraphics[scale=.45]{images/demo_adc.png}
2322 \caption{Example of the usage of the Analog Input blocks for RPP.}
2323 \end{center}\end{figure}
2325 \textbf{Description:}
2327 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2328 measures voltage on every available Analog Input and prints the values on the
2331 \subsection{Simple CAN demo}
2332 \begin{figure}[H]\begin{center}
2334 \includegraphics[scale=.45]{images/demo_simple_can.png}
2335 \caption{The simplest CAN demonstration.}
2336 \end{center}\end{figure}
2338 \textbf{Description:}
2340 The simplest possible usage of the CAN bus. This demo is above all designed for
2341 testing the CAN configuration and transmission.
2343 \subsection{CAN transmit}
2344 \begin{figure}[H]\begin{center}
2346 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2347 \caption{Example of the usage of the CAN blocks for RPP.}
2348 \end{center}\end{figure}
2350 \textbf{Description:}
2352 Demostrates how to use CAN Transmit blocks in order to:
2355 \item Send unpacked data with data type uint8, uint16 and uint32.
2356 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2357 \item Send a message as extended frame type to be received by CAN Receive
2358 configured to receive both, standard and extended frame types.
2361 Demostrates how to use CAN Receive blocks in order to:
2364 \item Receive unpacked data of data types uint8, uint16 and uint32.
2365 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2366 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2367 \item Use function-call mechanism to process received messages
2370 \subsection{Continuous time demo}
2371 \begin{figure}[H]\begin{center}
2373 \includegraphics[scale=.45]{images/demo_continuous.png}
2374 \caption{The demonstration of contiuous time.}
2375 \end{center}\end{figure}
2377 \textbf{Description:}
2379 This demo contains two integrators, which are running at continuous time. The main goal
2380 of this demo is to verify that the generated code is compilable and is working even when
2381 discrete and continuous time blocks are combined together.
2383 \subsection{Simulink Demo model}
2384 \begin{figure}[H]\begin{center}
2386 \includegraphics[scale=.45]{images/demo_board.png}
2387 \caption{Model of the complex demonstration of the boards peripherals.}
2388 \end{center}\end{figure}
2390 \textbf{Description:}
2392 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2393 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2394 rotates the light around the MCU in one direction. Every time the user presses the button
2395 on the HDK, the direction is switched.
2397 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2398 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2399 and the message 0xFFFFFFFF simulates the button press.
2401 Information about the state of the application are printed on the Serial Interface.
2403 \subsection{Echo char}
2404 \begin{figure}[H]\begin{center}
2406 \includegraphics[scale=.45]{images/demo_echo_char.png}
2407 \caption{Echo Character Simulink demo for RPP.}
2408 \end{center}\end{figure}
2410 \textbf{Description:}
2412 This demo will echo (print back) any character received through the Serial Communication
2413 Interface (115200-8-N-1).
2415 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2416 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2418 \subsection{GIO demo}
2419 \begin{figure}[H]\begin{center}
2421 \includegraphics[scale=.45]{images/demo_gio.png}
2422 \caption{Demonstration of DIN and DOUT blocks}
2423 \end{center}\end{figure}
2425 \textbf{Description:}
2427 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2428 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2429 on the Serial Interface with the same period.
2431 \subsection{Hello world}
2432 \begin{figure}[H]\begin{center}
2434 \includegraphics[scale=.45]{images/demo_hello_world.png}
2435 \caption{Hello World Simulink demo for RPP.}
2436 \end{center}\end{figure}
2438 \textbf{Description:}
2440 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2441 character per second. The output speed is driven by the Simulink model step which is set to one
2444 \subsection{Multi-rate single thread demo}
2445 \label{sec:mult-single-thre}
2447 \begin{figure}[H]\begin{center}
2449 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2450 \caption{Multi-rate singlet hread Simulink demo for RPP.}
2451 \end{center}\end{figure}
2453 \textbf{Description:}
2455 This demo will toggle LEDs on the Hercules Development Kit with
2456 different rate. This is implemented with multiple Simulink tasks, each
2457 running at different rate. In the generated code, these tasks are
2458 called from a singe thread and therefore no task can preempt another
2461 The state of each LED is printed to the Serial Communication Interface
2462 (115200-8-N-1) when toggled.
2465 \begin{tabular}{lll}
2466 \rowcolor[gray]{0.9}
2467 LED & pin & rate [s] \\
2468 1 & NHET1\_25 & 0.3 \\
2469 2 & NHET1\_05 & 0.5 \\
2470 3 & NHET1\_00 & 1.0 \\
2472 \captionof{table}{LEDs connection and rate}
2473 \label{tab:multirate_st_led_desc}
2477 \chapter{Command line testing tool}
2478 \label{chap-rpp-test-software}
2479 \section{Introduction}
2480 \label{sec-rpp-test-sw-intro}
2481 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2482 control of the RPP hardware. The test suite implements a command processor,
2483 which is listening for a commands and prints some output related to the commands
2484 on the serial interface. The command processor is modular and each peripheral
2485 has its commands in a separated module.
2487 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2488 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2490 The application enables a command processor using the SCI at
2491 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2492 and prompt should look like:
2495 Ti HDK \mcuname, FreeRTOS 7.0.2
2496 Test Software version eaton-0.1-beta-8-g91419f5
2497 CTU in Prague 10/2014
2501 Type in command help for a complete list of available command, or help command
2502 for a description of concrete command.
2504 \section{Compilation}
2505 \label{sec-rpp-test-sw-compilation}
2506 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.
2508 \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}.
2509 \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}.
2511 To build the Testing tool from Linux terminal run:
2512 \begin{lstlisting}[language=bash]
2517 or from Windows command line:
2519 \begin{lstlisting}[language=bash]
2521 "C:\ti\ccsv5\utils\bin\"gmake.exe
2524 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2528 \section{Commands description}
2530 This section contains the description of the available commands. The
2531 same description is also available in the program itself via the
2532 \texttt{help} command.
2534 \input{rpp-test-sw-cmds.tex}
2540 \textit{Analog to Digital Converter.} \newline{}
2541 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2542 digital number that represents the quantity's amplitude.
2545 \textit{Analog Input.} \newline{}
2546 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2549 \textit{Analog Output.} \newline{}
2550 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2553 \textit{Controller Area Network.} \newline{}
2554 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2555 communicate with each other within a vehicle without a host computer.
2556 In this project it is also used as mnemonic to refer to or something related to the CAN
2560 \textit{Code Generation Tools.} \newline{}
2561 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2562 assemble, archive, among others. In this project is normally used as synonym for
2563 ``Texas Instruments ARM compiler and linker."
2566 \textit{Digital to Analog Converter.} \newline{}
2567 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2568 (current, voltage, or electric charge).
2571 \textit{Digital Input.} \newline{}
2572 Mnemonic to refer to or something related to the digital input hardware module.
2575 \textit{Engine Control Unit.} \newline{}
2576 A type of electronic control unit that controls a series of actuators on an internal combustion
2577 engine to ensure the optimum running.
2580 \textit{Ethernet.} \newline{}
2581 Mnemonic to refer to or something related to the Ethernet hardware module.
2584 \textit{FlexRay.} \newline{}
2585 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2587 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2591 \textit{General Purpose Input/Output.} \newline{}
2592 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2593 controlled (programmed) by the user at run time.
2596 \textit{H-Bridge.} \newline{}
2597 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2598 an electronic circuit that enables a voltage to be applied across a load in either direction.
2601 \textit{High-Power Output.} \newline{}
2602 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2603 output hardware module.
2606 \textit{Integrated Development Environment.} \newline{}
2607 An IDE is a Software application that provides comprehensive facilities to computer programmers
2608 for software development.
2611 \textit{Legacy Code Tool.} \newline{}
2612 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2616 \textit{Model-Based Design.} \newline{}
2617 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2618 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2621 \textit{Matlab Executable.} \newline{}
2622 Type of binary executable that can be called within Matlab. In this document the common term
2623 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2627 \textit{Pulse-width modulation.} \newline{}
2628 Technique for getting analog results with digital means. Digital control is used to create a
2629 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2630 in between full on and off by changing the portion of the time the signal spends on versus
2631 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2632 \textit{duty cycle}.
2634 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2635 developed platform, that includes both hardware and software.
2638 \textit{Serial Communication Interface.} \newline{}
2639 Serial Interface for communication through hardware's UART using communication standard RS-232.
2640 In this project it is also used as mnemonic to refer to or something related to the Serial
2641 Communication Interface hardware module.
2644 \textit{SD-Card.} \newline{}
2645 Mnemonic to refer to or something related to the SD-Card hardware module.
2648 \textit{SD-RAM.} \newline{}
2649 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2652 \textit{Target Language Compiler.} \newline{}
2653 Technology and language used to generate code in Matlab/Simulink.
2656 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2657 Hardware circuitry that translates data between parallel and serial forms.
2664 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2665 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2666 % LocalWords: IOs HDK TMDSRM