6 %!style(xhtmls): media/themes/Clean/style.css
7 %!postproc(xhtmls): 'NEWPAGE' ''
8 %!nested(xhtmls): --libs syntaxhighlighter
9 %!options(tex): --enum-title --toc --toc-level 5
10 %!postproc(tex): '\.pdf\.png' '.pdf'
11 %!postproc(tex): 'NEWPAGE' '\\newpage'
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14 %!nested(tex): --docclass {article} --pdf
16 %S = Table of contents =[table_of_contents]
26 %tex% ''' \listoffigures
30 = Introduction =[introduction]
34 This document describes the final results of the project ``Code generation for automotive rapid
35 prototyping platform using Matlab/Simulink".
38 == Background ==[background]
42 Back in the beginning of 2012 a leading automotive company requested the Czech Technical University
43 to develop a Engine Control Unit (ECU) for automotive applications. Real-Time Systems group at the
44 Department of Control Engineering from the Faculty of Electrical Engineering developed a hardware
45 and Software platform to the needs of this industry. The hardware uses Texas Instruments
46 TMS570LS3137 CPU and is built with automotive standards and interfaces in mind. It uses a real-time
47 operating system and was directly programmed in C.
49 Nevertheless, in accordance to company policies the Software developed for the engine control unit
50 must be designed in a safe and auditable way. The company has the policy to implement the Software
51 for their system using Model-Based Design:
53 Model-Based Design (MBD) is a mathematical and visual method of addressing
54 problems associated with designing complex control, signal processing and
55 communication systems. It is used in many motion control, industrial equipment,
56 aerospace, and automotive applications. Model-based design is a methodology
57 applied in designing embedded software.
59 In order to meet this requirement an interaction layer between the platform and the Software the
60 company uses, Matlab/Simulink, must be implemented. This document describes the implementation of
61 this interaction system.
63 == Technologies involved ==[technologies_involved]
67 + Matlab/Simulink data flow graphical programming language tool for modeling, simulating and
68 analyzing multidomain dynamic systems.
69 + Standard ANSI C programming.
70 + FreeRTOS real-time operating system.
71 + Texas Instruments TI Code Generation Tools (CGT).
72 + RPP in-house automotive hardware board using Texas Instruments TMS570LS3137 CPU.
78 == Objectives ==[objectives]
82 Main objectives of this project are:
84 + Allow C code generation from Matlab/Simulink models for custom made hardware platform.
85 + Implement model blocks for some of the peripheral units of the board for use in Simulink
89 At the time of this writing the objectives of this project are considered successfully achieved.
91 == Benefits ==[benefits]
95 Expected benefits of this project are:
97 + Enabling faster implementation and rapid-prototyping of Software components through the use of
98 model-based programming.
99 + Enabling better and clearer visualization of Software implementations for the hardware board
101 + Improve auditability of Software system for automotive applications.
104 At the time of this writing the benefits of this project are considered enabled.
106 == Final outcome ==[final_outcome]
110 The main products generated for this project are:
112 - **C Support Library**: @@
113 Define the API to communicate with the board. Include drivers and operating system.
115 - **Simulink Coder Target**: @@
116 Allows Simulink model's code generation, compilation and download for the board.
118 - **Simulink Block Library**: @@
119 Set of blocks that allows Simulink models to use board IO and communication peripherals.
121 - **Simulink Demos Library**: @@
122 Just a bunch of examples of control application in form of Simulink models.
125 Each of this product is described deeply in the following sections.
129 == Document layout ==[document_layout]
133 The general layout of this document is as follows:
135 - Project description, objectives and outcome. This section.
136 - Software and Hardware setup for development, repository layout and programming standards.
137 - A section for each of the four products delivered, with:
138 - Implementation fundamentals.
139 - Repository branch description.
140 - Product specific aspects.
141 - Reference documentation.
149 = Project setup =[project_setup]
153 This sections describes the Software and Hardware aspects required to undertake development for
154 this project. It considers:
156 - Software development environment.
157 - Hardware reference documentation and wiring for development.
158 - Repository's general layout.
161 == Development environment ==[development_environment]
165 This section describes the Software environment setup for development.
167 === Operating system ===[operating_system]
171 This project was developed on a GNU/Linux operating system. For development it is recommended to
172 use a Debian based operating system for development as most of the tools are easily available from
175 Relevant OS information on which this project was developed:
177 - Ubuntu 12.04.2 LTS AMD64.
178 - Kernel 3.2.0-48-generic.
182 No test for cross-platform interoperability was performed on the code developed. Although care was
183 taken to try to provide platform independent code and tools there is elements known to be Linux
184 dependent. For a list of this elements refer to
185 [Appendix B: Known operating-system dependent files #appendix_b_known_operating_system_dependent_files].
187 === Version Control System ===[version_control_system]
191 The version control system used for this project is **git**. The repository of this project
192 contains all the files produced during development, including documentation, references, code and
193 graphics. Also, the GUI application **giggle** was used to easily review changes. To install both
194 execute on a terminal:
197 sudo apt-get install git giggle
202 === TI Code Composer Studio ===[ti_code_composer_studio]
206 Code Composer Studio (CCS) is the official Integrated Development Environment (IDE) for developing
207 applications for Texas Instruments embedded processors. CCS is multiplatform Software based on
208 Eclipse Open Source IDE.
210 The version used in this project is the 5.3.0. Download and install CCS for Linux from:
212 http://processors.wiki.ti.com/index.php/Category:Code_Composer_Studio_v5
214 CCS download requires a valid MyTI account. Tedious. CCS download is about 1.5GB. Once downloaded
215 extract the content of the ``tar.gz`` archiver and run ``css_setup_<version>.bin`` script as
216 __root__. Installation must done as root in order to install driver set.
218 After installation the application can be executed with:
221 cd <ccs>/ccsv5/eclipse/
225 If the application fails to start on 64bits systems is because CCS5 is a 32bits application a thus
226 requires 32bits libraries:
229 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
232 If the application crashes with a segmentation fault edit file:
235 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
238 And change key ``org.eclipse.ui/showIntro`` to false.
240 Choose ``FREE License - for use with XDS100 JTAG Emulators" on the licensing options. Code download
241 for the board is uses that particular hardware. See [Development wiring #development_wiring] for
242 more details on this hardware.
244 CCS include Texas Instruments Code Generation Tools (CGT) (compiler, linker, etc). Simulink code
245 generation requires the CGT to be available in the system, and thus, even if no library development
246 will be done or the IDE is not going to be used CCS is still required. @@
247 See ``<repo>/rpp/rpp/README.txt`` file for more information.
249 You can find documentation for CGT compiler in ``<repo>/ref/armcl.pdf`` and for CGT archiver in
250 ``<repo>/ref/armar.pdf``.
253 === Matlab/Simulink ===[matlabsimulink]
257 Matlab/Simulink version used is R2012b for Linux 64 bits. For in-house development the CVUT should
258 provide a network licensing server descriptor file.
260 === GtkTerm ===[gtkterm]
264 Most of the interaction with the board for development is done through a RS-232 serial connection.
265 The terminal Software used for communication is called GtkTerm.
267 The default configuration for the board serial communication module is 9600-8-N-1. Note that the
268 RPP Library test suite is setup to 115200-8-N-1.
270 To install GtkTerm execute:
273 sudo apt-get install gtkterm
278 === Doxygen ===[doxygen]
282 Doxygen is the name of the documentation generator used to generate the RPP API documentation based
283 on the source code files. The generated API include dependency graphs and thus it also requires
284 Graphviz, a graph drawing tool. To install both execute:
287 sudo apt-get install doxygen graphviz
290 See [API generation #api_generation] on how to use Doxygen to generate the API Reference
295 === Nested ===[nested]
299 Nested is the documentation editor used to create the document you're reading. It features a plain
300 text version control friendly simple to read non-cluttered format, WYSIWYM paradigm, divide and
301 conquer document creation approach, a nested (non-linear) document tree and content/presentation
302 separation scheme and thus documents can be published to LaTeX, PDF or HTML. Nested is a tool
303 created by the author of this report.
305 To install Nested first install dependencies:
308 sudo apt-get install python2.7 python-gtk2 python-webkit python-gtkspellcheck texlive-publishers texlive texlive-latex-extra rubber iso-codes subversion
311 Then get the latest revision from the stable repository:
314 svn checkout svn://svn.code.sf.net/p/nestededitor/code/trunk nested
324 Nested sources for this document can be found on the repository under
325 ``<repo>/doc/reports/report/``.
332 The LMC1 is a simple script developed for this project written in Python 3 using Gtk+ 3.0 Python
333 dynamic bindings PyGObject. This script, based on Michal Horn's command line script, allows to set
334 or clear the outputs of the test board.
336 This script includes both a GUI and command line tool. If no parameters are given to the script the
337 GUI version is launched:
339 %tex% ''' \begin{figure}[H]\begin{center}
341 %tex% ''' \caption{LMC1 GUI application.}\end{center}\end{figure}
343 To run the LMC1 application first install dependencies:
346 apt-get install python3 python3-gi python3-serial
349 To launch LMC1 GUI version double click file:
351 ``<repo>/rpp/lib/apps/lmc1/lmc1.py``
353 To launch LMC1 command line version type:
355 ``<repo>/rpp/lib/apps/lmc1/lmc1.py --help``
360 == Hardware reference ==[hardware_reference]
364 This section provides reference documentation for the RPP board:
367 - Modules capabilities and features.
368 - Wiring configuration for development and testing.
371 Please note that although this is a hardware reference documentation this is from a Software
372 development perspective and __**NOT**__ Hardware development perspective. For full hardware details
373 please refer to schematics and related documentation.
375 %tex% ''' \begin{figure}[H]\begin{center}
377 %tex% ''' \caption{The RPP board (signal connector missing).}\end{center}\end{figure}
379 === Connectors pinout ===[connectors_pinout]
383 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
385 %tex% ''' \caption{The RPP connectors pinout.}\end{figure}
388 === Modules description ===[modules_description]
392 This section enumerates the capabilities of the hardware modules from Software perspective.
394 ==== Logic IO ====[logic_io]
398 ===== Digital Inputs (DIN) =====[digital_inputs_din]
402 - 16 pins available on Signal Connector.
403 - Pins 9-16 status can be read via GPIO using configurable threshold. @@
404 Pins 9-12 use variable threshold B and pins 13-16 use variable threshold A.
405 - Variable threshold is a DAC chip MCP4922.
406 - All pins are read at once via SPI (fixed threshold) using chip MC33972.
407 - 1-8 are programmable pins and ca be set to pull-up or pull-down. 9-16 are pull-down only.
408 - All pins can be set to be active or tri-stated.
409 - All pins can be set to trigger interrupt.
410 - On-line diagnostic of broken wire.
413 ===== Digital Outputs (LOUT) =====[digital_outputs_lout]
417 - 8 pins available on Signal Connector.
418 - Pins for logic output only, up to 100mA.
419 - All pins are set at once using a chip through SPI.
422 ===== Analog Input (AIN) =====[analog_input_ain]
426 - 12 channels available.
427 - Differential inputs, thus 24 pins available on Signal Connector.
428 - Range for 0-20 volts.
429 - 12 bits resolution.
432 ===== Analog Output (AOUT) =====[analog_output_aout]
436 - 4 pins available on Signal Connector.
437 - Output range is 0-12 volts.
438 - Using 2 x MCP4922 DACs controlled using SPI.
439 - Resolution is 12 bits. But because of amplification and voltage reference not all range is used.
442 ==== Power Output ====[power_output]
446 ===== H-Bridge (HBR) =====[h_bridge_hbr]
450 - 1 port (2 pins) available on Power Connector.
451 - Communication is done through SPI.
452 - H-Bridge can be enabled or disabled.
453 - Current direction can be set.
454 - PWM control with 1% resolution change of the duty cycle.
455 - Port can drive load up to 10A.
457 ===== Power Output (MOUT) =====[power_output_mout]
461 - 6 pins available on Power Connector.
462 - Pins can drive a load up to 2A. Push/Pull.
463 - Pins are set using 6 CPU output GPIOs. Diagnostic are read using 6 externally pulled-up
464 open-drain input GPIOs.
465 - On-line diagnostics. Driver chip will pull-down the corresponding diagnostic pin on the CPU.
468 ===== High-Power Output (HOUT) =====[high_power_output_hout]
472 - 6 pins available on Power Connector.
473 - Pins can be set ON/OFF.
474 - Pins can drive a load up to 10A with PWM.
475 - System can read analog values of current flowing (IFBK).
476 - System can read diagnostics values (DIAG). Detection of a fault condition.
479 ==== Communication ====[communication]
483 ===== CAN bus (CAN) =====[can_bus_can]
487 - 3 ports available (CAN uses differential signaling) thus 6 pins are available on Communication
490 - Recover from error.
491 - Detection of network errors.
494 ===== Local Interconnect Network (LIN) =====[local_interconnect_network_lin]
498 - 2 ports/pins available on Communication Connector.
499 - Only first port can be used when using the SCI. Second port us shared with SCI.
502 ===== FlexRay (FR) =====[flexray_fr]
506 - 2 ports available. FlexRay uses differential signaling thus 4 pins are available on
507 Communication Connector.
511 ===== Serial Comm. Interface (SCI) =====[serial_comm_interface_sci]
515 - 1 port available inside the box on SCI connector (4 pins).
516 - Variable baud rate. Tested on 9600 and 115200.
517 - RS232 standard compatible.
519 ===== Ethernet (ETH) =====[ethernet_eth]
523 - 1 port available. Standard Ethernet connector available inside box.
528 ==== Data storage/logging ====[data_storagelogging]
532 ===== External Memory SD-RAM (SDR) =====[external_memory_sd_ram_sdr]
536 - 64MB (currently installed) external RAM used for logging. Maximal supported capacity is 256MB.
537 - Memory test routine available with test Software.
540 ===== SD Card (SDC) =====[sd_card_sdc]
544 - Standard SD-Card connector or microSD connector available inside box.
545 - Communication done using SPI.
550 === Development wiring ===[development_wiring]
554 For development, the RPP board needs to be wired as follow:
556 - **Power input**: supply around 13 volts on any PWR pin (Power and Communication connectors) and
557 connect GND to power supply's GND. See [Connectors pinout #connectors_pinout].
558 - **Serial communication**: board serial interface connected to a RS-232 port on the host computer
559 (``/dev/ttySX``) or to a USB converter (``/dev/ttyUSBX``).
560 **- Debug and code download**: XDS100v2 JTAG Emulator connected to RPP board JTAG connector,
561 which in turn is connected through USB to the host computer (``/dev/ttyUSBX``).
562 See below on details for configuring the XDS100v2 on Linux.
567 %tex% ''' \begin{figure}[H]\begin{center}
569 %tex% ''' \caption{RPP Wiring for Development.}\end{center}\end{figure}
572 Setup XDS100v2 on Linux:
574 By default the device (if nothing more connected then ``/dev/ttyUSB0``) is added with permissions
575 ``664`` and ``root`` as user and group. To access the device write access for current user is
576 required. To do so create a new udev rule file:
579 sudo nano /etc/udev/rules.d/45-pes-rpp.rules
586 SUBSYSTEM=="usb", ATTR{idVendor}=="0403", ATTR{idProduct}=="a6d0", MODE="0660", GROUP="plugdev"
589 Then reload udev rules with:
592 sudo udevadm control --reload-rules
596 To check device properties like ``idVendor`` or ``idProduct`` issue the following command:
599 udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)
603 === Test wiring ===[test_wiring]
607 Wiring for test differ from testing objectives. It test performed for this project no communication
608 test, besides SCI, was performed. The following describes how to wire each of the modules tested:
611 Connect all DIN pins to one LMC1 board outputs.
613 Connect all LOUT pins to one LMC1 board inputs.
615 Connect all low pins to GND and leave all high pins floating. Allow to hook a potentiometer
618 Connect all 4 pins to different channels on a oscilloscope.
620 Connect a motor to the H-bridge pins.
622 Connect all 6 pins to a LMC1 board inputs. Another option is to connect a motor to one of the
625 Connect the SCI to a host computer. See [Development wiring #development_wiring].
627 No particular wiring is required for testing the SD-RAM.
630 It is recommended to setup a power bus using regulated 12volts from Signal Connector. Power the
631 LMC1 boards and the potentiometer with this bus. The LCM1 controller board should be connected
632 to the host computer through a RS-232 port or a USB converter.
636 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
637 [530-test_wiring.png]
638 %tex% ''' \caption{RPP Wiring for Testing.}\end{figure}
642 == Project repository ==[project_repository]
646 This git repository holds all the work done on this project.
648 To get the repository:
650 ``git clone ssh://git@rtime.felk.cvut.cz/jenkicar/rpp-simulink.git``
652 This is a private repository, you require your SSH private key to be authorized. For access please
653 consult the Real-Time Systems Group, Department of Control Engineering, Faculty of Electrical
654 Engineering, Czech Technical University in Prague. For details about this git server refer to:
656 http://rtime.felk.cvut.cz/hw/index.php/Git_repository_on_this_server
658 The general layout of the repository is:
662 |__ doc - Documentation created for this project.
663 |__ refs - Official reference documentation.
665 |__ blocks - Simulink Block Set.
666 |__ demos - Simulink Demos Library.
667 |__ lib - C support Library and API.
668 \__ rpp - Simulink Coder Target.
671 A detailed description of the content of each subfolder under ``rpp/`` can be found in the section
672 //Subdirectory content description// on each dedicated section for the products developed.
674 In this document, the root folder on this repository is used as reference for file location and is
675 referred with the token ``<repo>``.
678 == Programming standards ==[programming_standards]
682 === TLC files ===[tlc_files]
686 === RPP API ===[rpp_api]
690 === S-Functions ===[s_functions]
694 = C Support Library =[c_support_library]
698 The RPP C Support Library define the API to communicate with the board. It include drivers and
699 operating system. This section documents the implementation of this library.
701 == Description ==[description]
705 The RPP Library is the support library used by Simulink models. It is designed from the board user
706 perspective and exposes a simplified high-level API to handle the board's peripheral modules in a
709 The library as a concept and as a functional unit was introduced by this project. At the beginning
710 of this project the RPP board had just one application developed for. This application intended for
711 board testing allows the user to issue low-level commands to control and test the peripherals of
712 the board. This application was created using a combination of custom code, contributed drivers and
713 generated code from TI tool HalCoGen. Library functionality, like drivers and hardware access, and
714 application logic, like command processor and test routines, was largely merged in a single layer,
715 166 source code files long highly coupled application. In order to develop independent applications
716 for the RPP board, as it was expected to be each Simulink model, the library logic needed to be
717 separated from the application logic. This work implied a heavy refactoring on the testing
718 application in order extract from it the library functionality. Because the application files were
719 highly coupled in a single layer the refactoring and testing of the library implied roughly 70% of
720 the work done on this project.
722 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
723 [500-adc_dep_before.png]
724 %tex% ''' \caption{Dependency graph of the ADC driver before refactoring.}\end{figure}
726 The above graph shows the dependencies of the ADC driver before the refactoring. Please note the
727 dependency on ``cmdproc_io_tisci.h`` and ``cmdproc.h``, both application level modules. Also, note
728 the indirect dependency on the Operating System is being resolved through the application modules.
730 %tex% ''' \begin{figure}[H]\begin{center}
731 [150-adc_dep_after.png]
732 %tex% ''' \caption{Dependency graph of the ADC driver after refactoring.}\end{center}\end{figure}
734 The above graph shows the current dependencies for the ADC driver in the RPP Library. Please note
735 that it dependents only on the system layer low-level driver and that the Operating System indirect
736 dependency is resolved through the library foundations ``base.h``.
738 Some other relevant changes introduced with the refactoring are:
740 - ADC driver was completely rewritten.
741 - MOUT driver was implemented.
742 - DIN driver was slightly modified and extended.
743 - DAC driver was slightly modified.
744 - HBR driver was largely modified (in particular watchdog functionality).
745 - SCI driver was refactored and extended.
746 - SDR driver was implemented.
749 Also, once the library functionality could be isolated, the resulting API was too low-level to be
750 used by applications, in consequence one of the contributions of this projects was the
751 implementation of a high-level API on top of this low level API: the RPP Layer.
756 === Architecture ===[architecture]
760 The RPP library was structured into 5 layers with the following guidelines:
762 - Top-down dependency only. No lower layer depends on anything from upper layers.
763 - 1-1 layer dependency only. The top layer depends exclusively on the bottom layer, not on any
764 lower level layer (except for a couple of exceptions).
765 - Each layer should provide a unified layer interface (``rpp.h``, ``drv.h``, ``hal.h``, ``sys.h``
766 and ``os.h``), so top layers depends on that layer interface and not on individual elements from
770 %tex% ''' \begin{figure}[H]\begin{center}
772 %tex% ''' \caption{The RPP library layers.}\end{center}\end{figure}
775 As a consequence of this division the source code files and interface files are now placed on
776 private directories so the previous prefix based inclusion ``drv_din.h`` is replaced by
777 ``drv/din.h``. With this organization user applications only needs to include the top layer
778 interface file (``rpp/rpp.h``) to be able to use the library API.
780 Please note the sublayer uLut, which is used only by the SPI driver in order to use thread safe
781 queue mechanisms. Because the FreeRTOS already provides thread safe queues and in order to match
782 the order parts of the system it would be advisable to drop this dependency in the future.
786 === RPP Layer Modules ===[rpp_layer_modules]
790 The RPP Layer was structured into 14 different modules from 4 different categories that match the
791 hardware modules on the board:
793 || Category | Description | MNEMONIC
794 | Logic IO | Digital Input | ``[DIN ]`` |
795 | | Digital (Logic) Output | ``[LOUT]`` |
796 | | Analog Input | ``[AIN ]`` |
797 | | Analog Output | ``[AOUT]`` |
798 | Power output | H-Bridge output | ``[HBR ]`` |
799 | | Power output (12V, 2A) | ``[MOUT]`` |
800 | | High-Power output (12V, 10A) | ``[HOUT]`` |
801 | Communication | CAN Bus | ``[CAN ]`` |
802 | | LIN (Local Interconnect Network) | ``[LIN ]`` |
803 | | FlexRay | ``[FR ]`` |
804 | | Serial Communication Interface | ``[SCI ]`` |
805 | | Ethernet | ``[ETH ]`` |
806 | Logging | SD Card | ``[SDC ]`` |
807 | | SD-RAM | ``[SDR ]`` |
810 Please note the mnemonic of each module, as they are constantly used on the Software and
811 documentation. Also note that only the following modules where implemented as part of this project:
813 %tex% ''' \begin{multicols}{2}
824 %tex% ''' \end{multicols}
826 Modules for which there is a low-level API available on the library but no high-level module was
829 %tex% ''' \begin{multicols}{2}
835 %tex% ''' \end{multicols}
837 Modules that are not yet available on the library at all:
839 %tex% ''' \begin{multicols}{2}
840 - ETH (in the works).
845 %tex% ''' \end{multicols}
847 The following graphic shows the library modules and the connectors on the hardware they map to.
849 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
851 %tex% ''' \caption{The RPP Library modules.}\end{figure}
855 === OS interchangeable layer ===[os_interchangeable_layer]
859 The OS Layer is composed by the FreeRTOS source code files. Because the FreeRTOS exposes an stable
860 API the OS layer can be changed in order to upgrade the Operating System or use a different port of
861 the OS, without changing the upper layers source code. The OS Layers currently available for the
862 RPP Library at ``<repo>/rpp/lib/os/`` at the time of this writing are:
864 - Version 6.0.4 using POSIX port. This layer is the one that should be used when compiling a
865 program for x86(_64) simulation. The port uses the ``pthread`` library and because of this the
866 port is not true real time and this is considered a simulator.
867 - Version 7.0.2 using HalCoGen port for TMS570. This layer is the one currently supported and
868 tested. It was originally included in the testing application and was generated by an older
869 version of TI code generation tool HalCoGen.
870 - Version 7.4.0 using HalCoGen port for TMS570. This layer was extracted from a newly generated
871 project using a newer version of HalCoGen. This layer is untested but //should// work out of the
873 - Version 7.4.2 using ARM Cortex R4 official port for CCS. This layer was created from vanilla
874 FreeRTOS 7.4.2 release. It is tested but non-working. Ticks are proved to be executed in time but
875 applications using this kernel runs at full-speed. The reason if this is currently unknown.
878 The general layout of all the layers are as following:
880 - Common source code (kernel):
883 src/os/croutine.c (Optional)
887 src/os/timers.c (Optional)
890 Originally found in vanilla distribution in: ``<FreeRTOSRoot>/FreeRTOS/Source``
892 - Common interface files:
895 include/os/croutine.h
896 include/os/FreeRTOS.h
898 include/os/mpu_wrappers.h
899 include/os/portable.h (with minor editions)
900 include/os/projdefs.h
903 include/os/StackMacros.h
908 Originally found in vanilla distribution in: ``<FreeRTOSRoot>/FreeRTOS/Source/include``
910 - Memory management file:
913 src/os/heap.c (One of 4 version available, see Appendix A).
916 Originally found in vanilla distribution in: ``<FreeRTOSRoot>/FreeRTOS/Source/portable/MemMang``
918 - Port specific files:
923 include/os/portmacro.h
924 include/os/FreeRTOSConfig.h
927 This depend of the port. In the case of the 7.4.2 TMS570 / ARM Cortex R4 for CCS port:
929 - First three files can be found in vanilla distribution in @@
930 ``<FreeRTOSRoot>/FreeRTOS/Source/portable/CCS/ARM_Cortex-R4``.
931 - Last file in ``<FreeRTOSRoot>/FreeRTOS/Demo/CORTEX_R4_RM48_TMS570_CCS5``.
934 In general, the following changes were applied to the source code base of all kernels:
936 - Replaced include directives to adapt to RPP library standard:
938 ``#include "`` with ``#include "os/``
940 - Line ending character set to UNIX '\n' and tabs replaced by 4 spaces.
945 === API development guidelines ===[api_development_guidelines]
949 The following are the development guidelines use for developing the RPP API:
951 - User documentation should be placed in header files, not in source code, and should be Doxygen
952 formatted using autobrief. Documentation for each function present is mandatory.
953 - Function declarations on the headers files is for public functions only. Do not declare
954 local/static/private functions on the header.
955 - Documentation on source code files should be non-doxygen formatted and intended for developers,
956 not users. Documentation here is optional and at the discretion of the developer.
957 - Always use standard data types for IO when possible. Use custom structs as very last resort.
958 - Use prefix based functions names to avoid clash. The prefix is of the form ``[layer]_[module]_``,
959 for example ``rpp_din_update()`` for the update function of the DIN module in the RPP Layer.
960 - To be very careful about symbol export. Because it is used as a static library the modules should
961 not export any symbol that is not intended to be used (function) or ``extern``'ed (variable) from
962 application. As a rule of thumb declare all global variables as static.
963 - Only the RPP Layer symbols are available to user applications. All information related to lower
964 layers is hidden for the application. This is accomplished by conditionally including the layers
965 elements on the implementations files only and never on the interface files. Never expose any
966 other layer to the application or the the whole system below that layer will be exposed. In other
967 words, never ``#include "foo/foo.h"`` in any RPP Layer interface file.
968 - Any module is conditionally included by using ``rppCONFIG_INCLUDE_{MNEMONIC}`` directive on the
969 ``RppConfig.h`` configuration file.
973 === Further improvements ===[further_improvements]
977 The following are recommendations for future improvements of the library:
979 - General code revision to remove local-only methods and variables from being exported.
980 - General code revision and refactoring to normalize the functions naming scheme. Normalize DRV and
981 HAL to use prefix based scheme, not all the functions and exported variables do. Refactor the SYS
982 layer, most of it generated by HalCoGen and that uses ``thisNamingScheme`` to use library
983 standards (see [RPP API #rpp_api] programming standards).
984 - Simplify doxygen documentation on the SYS layer, because is clunky, doesn't add any value and is
985 repetitive. Move it the header files.
986 - Remove error throwing from wrong parameter input in the DRV layer and assume a
987 //correct parameter and continue// safe approach. Move all error throwing and validation to the
988 RPP layer (already implemented).
991 Recommendations for changes on the electrical diagrams:
993 - Change name of GPIO MOUT1_EN to MOUT1_DIAG.
994 - Change name of GPIO MOUT1_IN to MOUT1_EN.
997 The current names are misleading.
999 == Subdirectory content description ==[subdirectory__content_description]
1003 -> ``librpp.a`` and ``rpp-lib.lib``
1005 Version controlled RPP static libraries.
1007 The first one is for POSIX simulation, the second one for Simulink models and other ARM/TMS570
1008 applications. This files are placed here by the projects ``apps/rpp-lib_posix`` and
1009 ``apps/rpp-lib`` when built.
1014 Applications related to the RPP library.
1016 This include the CCS studio project for generation of the static library and the test suite. See
1017 [Static libraries #static_libraries], [Test Suite #test_suite] and
1018 [Base application #base_application] for more information.
1023 OS layers directory.
1025 See [OS interchangeable layer #os_interchangeable_layer] for more information.
1030 Main directory for the RPP Library.
1035 Documentation directory for the RPP Library. See [API generation #api_generation] for more
1039 -> ``rpp/TMS570LS3137.ccxml``
1041 Descriptor for code download.
1043 This file is used by all the projects including the Simulink RPP Target for code download. It is
1044 configured to use the Texas Instruments XDS100v2 USB Emulator. See
1045 [Development wiring #development_wiring] for information about this hardware.
1048 -> ``rpp/TMS570LS313xFlashLnk.cmd``
1050 CGT Linker command file.
1052 This file is used by all applications linking for the board, including the Simulink models, static
1053 library and test suite. It includes instructions for the CGT Linker on where to place sections
1054 and size of some sections.
1057 -> ``rpp/include/{layer}`` and ``rpp/src/{layer}``
1059 Interface files and implementations files for given ``{layer}``.
1061 See below for details on the RPP Layer.
1064 -> ``rpp/include/rpp/rpp.h``
1066 Main library header file.
1068 To use this library just include this file and this file only. Also, before using any library
1069 function please call ``rpp_init()`` function for hardware initialization.
1072 -> ``rpp/include/rpp/RppConfig.h``
1074 Library configuration file.
1076 Please refer to the API documentation and header file comments for specific documentation for each
1077 configuration parameter.
1080 -> ``rpp/include/rpp/rpp_{mnemonic}.h``
1082 Header file for ``{mnemonic}`` module.
1084 This files includes function definitions, pin definitions, etc, specific to {mnemonic} module. The
1085 inclusion of this header can be configured in ``RppConfig.h`` using
1086 ``rppCONFIG_INCLUDE_{MNEMONIC}`` directive. See
1087 [API development guidelines #api_development_guidelines].
1090 -> ``rpp/src/rpp/rpp_{mnemonic}.c``
1092 Module implementation.
1094 Implementation of ``rpp_{mnemonic}.h``'s functions on top of the DRV library. See
1095 [API development guidelines #api_development_guidelines].
1098 -> ``rpp/src/rpp/rpp.c``
1100 Implementation of library-wide functions.
1106 == Test Suite ==[test_suite]
1110 The ``rpp-test-suite`` is a RPP application developed as part of this project that includes a
1111 series of test tasks or test commands to verify the correct behavior and functionality of the RPP
1112 layer modules. There is one command per module, and the command use the same mnemonic that the
1115 This test suite can be found in ``<repo>/rpp/lib/apps/rpp-test-suite`` for the ARM version and in
1116 ``<repo>/rpp/lib/apps/rpp-test-suite_posix`` for the simulated version.
1118 The application enables a command processor using the SCI at **115200-8-N-1**:
1121 RPP Library Test Suite.
1122 ===========================================================
1123 [Type a module to test or 'help']
1126 help - Display this help.
1127 ain - Test Analog Input.
1128 aout - Test Analog Output.
1129 can - Test CAN communication.
1130 din - Test Digital Inputs.
1131 eth - Test Ethernet communication.
1132 fr - Test FlexRay communication.
1133 hbr - Test H-Bridge.
1134 hout - Test High Power Output.
1135 lin - Test LIN communication.
1136 lout - Test Digital Outputs.
1137 mout - Test Power Outputs.
1138 sci - Test Serial Communication Interface.
1143 Current modules with tests implemented are:
1145 %tex% ''' \begin{multicols}{2}
1152 - SCI. (the test-suite itself)
1156 %tex% ''' \end{multicols}
1158 A note of warning: tests spawn OS tasks at the beginning of the test and deletes them at the end.
1159 Because current memory memory management implementation cannot free memory the test suite will
1160 fill all the memory and tests will be unable to start. In this case just reset the board. See
1161 [Appendix A: Notes on FreeRTOS memory management #appendix_a_notes_on_freertos_memory_management]
1162 for more information.
1166 === AIN test description ===[ain_test_description]
1170 This test will read all the analog inputs at a rate of 100 times per second and print the result.
1174 Analog Inputs Test [1-12]:
1175 ===========================================================
1176 1 2 3 4 5 6 7 8 9 10 11 12
1177 0 0 0 0 0 0 0 0 0 0 0 0
1180 Status: **PASSED** for channels 1-5. 6-12 remain untested but they //should// work.
1182 === AOUT test description ===[aout_test_description]
1186 This test will generate a 10Hz sinus wave on all the analog outputs with a sampling rate of 1kHz.
1187 The sinus wave of each analog output channel is sifted by (1/4)pi.
1191 Analog Output Test at 10 Hz:
1192 ===========================================================
1198 === DIN test description ===[din_test_description]
1202 This test will read all 16 + 8 digital inputs at a rate of 100 times per second, using both low
1203 speed SPI chip and variable threshold high-speed inputs.
1207 Digital Inputs Test [1-16]:
1208 ===========================================================
1209 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 A B C D E F G H
1210 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1214 - Low speed fixed threshold [1-16]: **PASSED**.
1215 - High speed variable threshold [A-H]: **PASSED**.
1217 === HBR test description ===[hbr_test_description]
1221 This test will generate a sinus wave to control the H-Bridge of one period per 20 seconds (0.05Hz)
1222 at a sampling rate of 20Hz.
1226 H-Bridge Test at 0.05 Hz:
1227 ===========================================================
1233 === LOUT test description ===[lout_test_description]
1237 This test will show in the digital outputs the value in binary of a counter, incrementing the
1238 counter once per second. The counter is 8 bits, the same as the outputs, so 255 seconds are
1239 required for an overflow/restart of the counting.
1243 Digital Output Test:
1244 ===========================================================
1250 === MOUT test description ===[mout_test_description]
1254 This test will toggle the power outputs one by one per second, then wait 10 seconds in that state
1255 while constantly verifying the diagnostics.
1260 ===========================================================
1262 1: OK 1: OK 1: OK 1: OK 1: OK 1: OK
1267 === SCI test description ===[sci_test_description]
1271 A more comprehensive test is not implemented. The very use of this test-suite implies the correct
1272 function of the SCI module. Nevertheless, as a future improvement, a test that will verify run-time
1273 baud rate changes and test some other RPP SCI functions is desirable.
1277 You're using the SCI, reading this and typing this command.
1278 Press any key to continue...
1283 === SDR test description ===[sdr_test_description]
1287 This test will launch a noise generator task that will log noise and then start the library
1288 included SD-RAM logging command processor, allowing the user to see and handle the log on the
1293 Log control: 1024kB available.
1294 ===========================================================
1296 [ 1239864] This is the noise generator at iteration 1 putting some noise value 279735017.
1297 [ 1240779] This is the noise generator at iteration 2 putting some noise value 1943579783.
1300 1023 kB of 1024 kB available.
1312 == Static libraries ==[static_libraries]
1316 The RPP Library can be compiled as a static library for ARM using TI CGT and for x86(_64) using
1317 GCC. CCS projects ``rpp-lib`` and ``rpp-lib_posix`` in ``<repo>/rpp/lib/apps/`` allows to generate
1318 the static libraries. After compilation, as part of the build process, both projects will
1319 automatically update the version-controlled static libraries in ``<repo>/rpp/lib/``:
1321 - ``rpp-lib.lib``, static library for ARM using TI naming scheme.
1322 - ``librpp.a``, static library for x86(_64) using standard Linux naming scheme.
1325 One future improvement would be the creation of a Makefile for each compilation scheme in order to
1326 not depend on CCS managed build system. For ARM manual compilation or makefile creation using Texas
1327 CGT see the ``target_tools.mk`` file under the Simulink RPP Target folder. The relevant aspects for
1328 compiling and linking an application using the static libraries are:
1330 **ARM compilation using CCS for the RPP board:**
1332 - Include headers files of the OS for which the library was compiled against. At the time of this
1333 writing the OS is FreeRTOS 7.0.2. See [OS interchangeable layer #os_interchangeable_layer]
1335 - Include header files for the RPP library.
1336 - Add library ``rpp-lib.lib`` to the linker libraries. The RPP library **MUST** be looked for
1337 before Texas Instruments support library ``rtsv7R4_T_be_v3D16_eabi.lib``.
1338 - Configure linker to retain ``.intvecs`` section from RPP Library:@@
1339 ``--retain="rpp-lib.lib<sys_intvecs.obj>(.intvecs)"``
1340 - Use the provided linker command file ``TMS570LS313xFlashLnk.cmd``.
1343 **x86(_64) compilation using GCC for Simulation:**
1345 - Include headers files of the OS for Simulation. At the time of this writing the OS is POSIX
1347 - Include header files for the RPP library.
1348 - Create a ``RppConfig.h`` override file and drop DRV layer dependency: ``rppCONFIG_DRV 0``.
1349 - Includes must be configured in a way that the ``RppConfig.h`` taken under consideration is the
1350 override and not the library one.
1351 - Add library ``librpp.a`` to the linker libraries.
1352 - Add ``pthread`` to the linker libraries.
1355 As an important note, all the models compiled using Simulink will link against ``rpp-lib.lib``.
1356 When compiling a Simulink model, Simulink, and then ``make``, will not update the generated binary
1357 if the model hasn't changed, and then if the source code hasn't changed. Static libraries changes
1358 are not considered for re-compilation and re-linking. If library development is being done and
1359 static library is updated, in order for the Simulink model to generate a newly linked version of
1360 the binary the whole code generation folder needs to be deleted in order to force code generation,
1361 compilation and linking with the new static library.
1366 == Base application ==[base_application]
1370 In ``<repo>/rpp/lib/apps/`` there is two RPP base applications, ``base`` and ``base_posix``, that
1371 already configured for the RPP Library. It is advised that new applications uses this projects a
1374 To create a new application copy this directory and rename it. Now open files ``.project``,
1375 ``.cproject`` and ``.ccsproject`` (if available) and change any occurrence of the work ``base``
1376 with the name of your project. Use lower case ASCII letters and underscores only.
1378 **Steps to configure a new CCS (ARM, using CGT) RPP application:**
1380 + Create a new CCS project. @@
1382 + Create a normal folder ``include``.
1383 + Create a source folder ``src``.
1384 + Add common ``.gitignore`` to the root of that project:
1391 + Add new variable ``RPP_LIB_ROOT`` and point to this repository branch root.@@
1393 + Add ``rpp-lib.lib`` static library to linker libraries and add ``RPP_LIB_ROOT`` to the library
1397 + Configure linker to retain ``.intvecs`` from RPP static library.@@
1399 + Configure compiler to include local includes, OS includes for TMS570 and RPP includes, in that
1403 + Configure compiler to allow GCC extensions.@@
1405 + Import and link (__do not copy!__) linker file and board upload descriptor.@@
1409 **Steps to configure a new GCC (x86(_64)) RPP simulated application:**
1411 + Create a new managed C project that uses Linux GCC toolchain.
1412 + Create a source folder ``src``. Link all files from original CCS application to this folder.
1413 + Create a normal folder ``include``. Create a folder ``rpp`` inside of it.
1414 + Add common ``.gitignore`` to the root of that project:
1421 + Add new variable ``RPP_LIB_ROOT`` and point to this repository branch root.@@
1422 [400-base_posix_1.png]
1423 + Configure compiler to include local includes, CCS application includes, OS includes for POSIX and
1424 RPP includes, in that order.@@
1425 [400-base_posix_2.png]
1427 + Add ``rpp`` and ``pthread``to linker libraries and add ``RPP_LIB_ROOT`` to the library search
1429 [400-base_posix_3.png]
1430 + Copy ``RppConfig.h`` from RPP Library to a new folder ``include/rpp`` and configure it drop DRV
1431 layer dependency: ``rppCONFIG_DRV 0``.@@
1432 [200-base_posix_4.png]
1435 **In general any RPP application uses the layout/template:**
1437 + Include RPP library header file.
1439 #include "rpp/rpp.h"
1443 + Create one or as many FreeRTOS task function definitions as required. Those tasks should use
1444 functions from this library.
1446 void my_task(void* p)
1448 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
1449 portTickType last_wake_time = xTaskGetTickCount();
1451 /* Wait until next step */
1452 vTaskDelayUntil(&last_wake_time, freq_ticks);
1453 rpp_sci_printf((const char*)"Hello RPP.\r\n");
1458 + Create the main function that will:
1459 - Initialize the RPP board.
1460 - Spawn the tasks the application requires. Refer to FreeRTOS API for
1462 - Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details.
1463 - Catch if idle task could not be created.
1468 /* Initialize RPP board */
1472 if(xTaskCreate(my_task, (const signed char*)"my_task",
1473 512, NULL, 0, NULL) != pdPASS) {
1475 rpp_sci_printf((const char*)
1476 "ERROR: Cannot spawn control task.\r\n"
1479 while(TRUE) { asm(" nop"); }
1482 /* Start the FreeRTOS Scheduler */
1483 vTaskStartScheduler();
1485 /* Catch scheduler start error */
1487 rpp_sci_printf((const char*)
1488 "ERROR: Problem allocating memory for idle task.\r\n"
1491 while(TRUE) { asm(" nop"); }
1495 + Create hook functions for FreeRTOS:
1496 - ``vApplicationMallocFailedHook()`` allows to catch memory allocation errors.
1497 - ``vApplicationStackOverflowHook()`` allows to catch if a task overflows it's
1501 #if configUSE_MALLOC_FAILED_HOOK == 1
1503 * FreeRTOS malloc() failed hook.
1505 void vApplicationMallocFailedHook(void) {
1507 rpp_sci_printf((const char*)
1508 "ERROR: manual memory allocation failed.\r\n"
1515 #if configCHECK_FOR_STACK_OVERFLOW > 0
1517 * FreeRTOS stack overflow hook.
1519 void vApplicationStackOverflowHook(xTaskHandle xTask,
1520 signed portCHAR *pcTaskName) {
1522 rpp_sci_printf((const char*)
1523 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
1533 == API generation ==[api_generation]
1537 The RPP Layer is formatted using Doxygen documentation generator. This allows to generate a high
1538 quality API reference. To generate the API reference do in a terminal:
1541 cd <repo>/rpp/lib/rpp/doc/api
1542 doxygen doxygen.conf
1543 xdg-open html/index.html
1546 The files under ``<repo>/rpp/lib/rpp/doc/api/content`` are used for the API reference generation
1547 are their name is self-explanatory:
1557 To install Doxygen see [Development environment #development_environment] section.
1559 == API Reference ==[api_reference]
1563 For the complete API reference please generate the HTML version using the above section
1564 instructions. Here is listed the index of functions of each module and their brief.
1566 Please note that not all modules were implemented as part of this project. See
1567 [RPP Layer Modules #rpp_layer_modules] for a list of the modules implemented.
1571 === DIN API Reference ===[din_api_reference]
1575 ``int8_t rpp_din_init();`` @@ -> DIN module initialization. @@ @@
1576 ``int8_t rpp_din_ref(uint16_t refA, uint16_t refB);`` @@ -> Configure voltage reference levels for digital inputs using variable reference threshold. @@ @@
1577 ``int8_t rpp_din_setup(uint8_t pin, boolean_t pull_type, boolean_t active, boolean_t can_wake);`` @@ -> Configure given pin. @@ @@
1578 ``int8_t rpp_din_get(uint8_t pin, boolean_t var_thr);`` @@ -> Get the current cached value of the given pin. @@ @@
1579 ``int8_t rpp_din_diag(uint8_t pin);`` @@ -> Get the diagnostic cached value for given pin. @@ @@
1580 ``int8_t rpp_din_update();`` @@ -> Read and update cached values and diagnostic values of all pins. Also commit configuration changes.
1582 === LOUT API Reference ===[lout_api_reference]
1586 ``int8_t rpp_lout_init();`` @@ -> LOUT module initialization. @@ @@
1587 ``int8_t rpp_lout_set(uint8_t pin, uint8_t val);`` @@ -> Set the output cache of given pin to given value. @@ @@
1588 ``int8_t rpp_lout_diag(uint8_t pin);`` @@ -> Get the diagnostic cached value for given pin. @@ @@
1589 ``int8_t rpp_lout_update();`` @@ -> Flush cached output values and read back diagnostic values of all pins.
1591 === AIN API Reference ===[ain_api_reference]
1595 ``int8_t rpp_ain_init();`` @@ -> AIN module initialization. @@ @@
1596 ``int16_t rpp_ain_get(uint8_t pin);`` @@ -> Get the current analog value on the given pin. @@ @@
1597 ``int8_t rpp_ain_update();`` @@ -> Read and update analog cached values.
1600 === AOUT API Reference ===[aout_api_reference]
1604 ``#define RPP_DAC_OA 5.6`` @@ -> DAC output operational amplifier multiplication constant. @@ @@
1605 ``#define RPP_DAC_VREF 2.5`` @@ -> DAC hardware reference voltage. @@ @@
1606 ``int8_t rpp_aout_init();`` @@ -> AOUT module initialization. @@ @@
1607 ``int8_t rpp_aout_setup(uint8_t pin, boolean_t enabled);`` @@ -> Configure enabled/disabled state for given pin. @@ @@
1608 ``int8_t rpp_aout_set(uint8_t pin, uint16_t val);`` @@ -> Set the output cache of given pin to given value. @@ @@
1609 ``int8_t rpp_aout_set_voltage(uint8_t pin, uint16_t mv);`` @@ -> Set output to given voltage. @@ @@
1610 ``int8_t rpp_aout_update();`` @@ -> Flush cached output values and configuration changes.
1612 === HBR API Reference ===[hbr_api_reference]
1616 ``int8_t rpp_hbr_init();`` @@ -> HBR module initialization. @@ @@
1617 ``int8_t rpp_hbr_enable(int32_t period);`` @@ -> Enable the H-Bridge for control. @@ @@
1618 ``int8_t rpp_hbr_control(double cmd);`` @@ -> Control the H-Bridge direction, enabled/disabled and PWM. @@ @@
1619 ``int8_t rpp_hbr_disable();`` @@ -> Disable the H-Bridge.
1623 === MOUT API Reference ===[mout_api_reference]
1627 ``int8_t rpp_hbr_init();`` @@ -> HBR module initialization. @@ @@
1628 ``int8_t rpp_mout_init();`` @@ -> MOUT module initialization. @@ @@
1629 ``int8_t rpp_mout_set(uint8_t pin, uint8_t val);`` @@ -> Set the output of given pin to given value. @@ @@
1630 ``int8_t rpp_mout_get(uint8_t pin);`` @@ -> Get the cached value of the given pin set by rpp_mout_set(). @@ @@
1631 ``int8_t rpp_mout_diag(uint8_t pin);`` @@ -> Reads the value on the given diagnostic pin.
1633 === HOUT API Reference ===[hout_api_reference]
1637 ``int8_t rpp_hout_init();`` @@ -> HOUT module initialization.
1639 === CAN API Reference ===[can_api_reference]
1643 ``int8_t rpp_can_init();`` @@ -> CAN module initialization.
1645 === LIN API Reference ===[lin_api_reference]
1649 ``int8_t rpp_lin_init();`` @@ -> LIN module initialization.
1651 === FR API Reference ===[fr_api_reference]
1655 ``int8_t rpp_fr_init();`` @@ -> FR module initialization.
1659 === SCI API Reference ===[sci_api_reference]
1663 ``int8_t rpp_sci_init();`` @@ -> SCI module initialization. @@ @@
1664 ``boolean_t rpp_sci_setup(uint32_t baud);`` @@ -> SCI module setup. @@ @@
1665 ``uint16_t rpp_sci_available();`` @@ -> Number of bytes available on input buffer. @@ @@
1666 ``int8_t rpp_sci_read(uint32_t amount, uint8_t* buffer);`` @@ -> Read n number of bytes from input buffer. @@ @@
1667 ``int8_t rpp_sci_read_nb(uint32_t amount, uint8_t* buffer);`` @@ -> Read n number of bytes from input buffer if possible. @@ @@
1668 ``int8_t rpp_sci_write(uint32_t amount, uint8_t* data);`` @@ -> Write n number of bytes to the output buffer. @@ @@
1669 ``int8_t rpp_sci_write_nb(uint32_t amount, uint8_t* data);`` @@ -> Write n number of bytes to the output buffer if possible. @@ @@
1670 ``int8_t rpp_sci_flush(boolean_t buff);`` @@ -> Flush incomming or outgoing buffers. @@ @@
1671 ``int32_t rpp_sci_printf(const char* format, ...);`` @@ -> C style printf using RPP SCI module. @@ @@
1672 ``int8_t rpp_sci_putc(uint8_t byte);`` @@ -> C style putc (put character) using RPP SCI module. @@ @@
1673 ``int16_t rpp_sci_getc();`` @@ -> C style getc (get character) using RPP SCI module.
1675 === ETH API Reference ===[eth_api_reference]
1679 ``int8_t rpp_eth_init();`` @@ -> ETH module initialization.
1681 === SDC API Reference ===[sdc_api_reference]
1685 ``int8_t rpp_sdc_init();`` @@ -> SDC module initialization.
1687 === SDR API Reference ===[sdr_api_reference]
1691 ``#define RPP_SDR_ADDR_START 0x80000000U`` @@ -> SDRAM start address on RPP board. @@ @@
1692 ``#define RPP_SDR_ADDR_END 0x83FFFFFFU`` @@ -> SDRAM end address on RPP board. @@ @@
1693 ``int8_t rpp_sdr_init();`` @@ -> SDR module initialization. @@ @@
1694 ``int8_t rpp_sdr_setup(boolean_t enable);`` @@ -> Configure SD-RAM logging. @@ @@
1695 ``uint32_t rpp_sdr_available();`` @@ -> Query for the amount of space free on the SD-RAM. @@ @@
1696 ``int32_t rpp_sdr_printf(const char* format, ...);`` @@ -> Store a formatted user string on the log, if logging is enabled. @@ @@
1697 ``int8_t rpp_sdr_clear();`` @@ -> Clear log. @@ @@
1698 ``int8_t rpp_sdr_show(boolean_t start);`` @@ -> Start/Stop the task that sends the log to the SCI.
1702 = Simulink Coder Target =[simulink_coder_target]
1706 The Simulink Coder Target allows Simulink model's code generation, compilation and download for the
1709 == Description ==[description]
1713 The Simulink RPP Target provides support for C source code generation from Simulink models and
1714 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1715 uses Texas Instrument ARM compiler (armcl) included in the Code Generation Tools available with
1716 Code Composer Studio, and thus it depends on it for proper functioning.
1718 This library also provides support for automatically download the compiled machine code to the RPP
1721 === Code generation process ===[code_generation_process]
1725 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
1726 [350-tlc_process.png]
1727 %tex% ''' \caption{TLC code generation process.}\end{figure}
1729 == Subdirectory content description ==[subdirectory__content_description]
1735 RPP Target install script.
1737 This script will, among other things, ask the user to provide the location of the armcl parent
1738 directory, infer and save some relevant CCS paths, add paths to Matlab path and build S-Function
1739 blocks for user's architecture (using Matlab's mex command line tool).
1742 - ``<repo>/refs/rtw_ug.pdf`` p. 1137.
1747 Embedded real-time system target file for RPP.
1749 This file is the system target file (STF), or target manifest file. Functions of the STF include:
1751 - Making the target visible in the System Target File Browser.
1752 - Definition of code generation options for the target (inherited and target-specific).
1753 - Providing an entry point for the top-level control of the TLC code generation process.
1757 - ``<repo>/refs/rtw_ug.pdf`` p. 1129 and __1144__.
1762 Embedded Coder Template Makefile.
1764 This is just standard Embedded Coder Template Makefile, provided by Matlab. It was slightly
1765 modified to support ``armcl`` particularities and added template rules for assembler files (which
1766 were included by the ``rpp_lib_support.m`` script, but is no longer the case).
1769 - ``<repo>/refs/rtw_ug.pdf`` p. 1130 and __1183__.
1772 -> ``rpp_download.m``
1774 Code download utility for Simulink RPP Target.
1776 This function is optionally executed at the end of the build process if it is successful and the
1777 user selected //Download compiled binary to RPP// option on the build configuration panel. This
1778 function calls ``loadti.sh`` script with the generated binary and using configuration for the
1779 XDS100v2 JTAG Emulators. The board should be powered and correctly wired. @@
1780 See [Development wiring #development_wiring].
1784 -> ``rpp_file_process.tlc``
1786 Code generation custom file processing template.
1788 This file should decide which //main// to generate according to configuration, in particular which
1789 mode, Single Tasking or Multitasking, is chosen. The RPP Target ignores this settings because it
1790 uses a tasking system based on tasking features provided by FreeRTOS. In consequence is only a
1791 wrapper to the //Single Tasking// main, which clearly is not for single tasking.
1794 - ``<repo>/refs/ecoder_ug.pdf`` p. 556.
1795 - ``<repo>/refs/ecoder_ref.pdf`` p. 1347.
1798 -> ``rpp_lib_support.m``
1800 **DEPRECATED**. Simulink support for RPP library and operating system setup.
1802 This files used to add the source code from the RPP library and operating to the build. This is no
1803 longer required when using the static library. This is left for future reference in case new source
1804 code needs to be included to the build.
1807 - ``<repo>/refs/rtw_ug.pdf`` p. 1058.
1808 - ``<repo>/refs/rtw_ref.pdf`` p. 56.
1811 -> ``rpp_make_rtw_hook.m``
1813 Build process hooks file.
1815 This file is hook file that invoke target-specific functions or executables at specified points in
1816 the build process. In particular, this file handle the copying of required files before the
1820 - ``<repo>/refs/rtw_ug.pdf`` p. 1066-1072 and 1131.
1823 -> ``rpp_select_callback_handler.m``
1825 RPP Target select callback handler.
1827 This callback function is triggered whenever the user selects the target in the System Target File
1828 Browser. Default values for Simulation and configurations parameters are set. Some options are
1829 disabled if it is not allowed to be changed by user.
1832 - ``<repo>/refs/rtw_ug.pdf`` p. 1211.
1836 -> ``rpp_srmain.tlc``
1838 Custom file processing to generate a //main// file.
1840 This file generated the //main// file for the RPP target on top of the RPP library and the FreeRTOS
1841 operating system. The ``sr`` prefix is standard to mark Single Tasking main, which is the case.
1842 See ``rpp_file_process.m`` description above for more information about this.
1845 - Example in ``<matlab>/rtw/c/tlc/mw/bareboard_srmain.tlc``.
1848 -> ``target_tools.mk``
1850 Makefile for CCS (``armcl``) toolchain support.
1852 This file set variables to CCS tools to support build for this toolchain. This file is included by
1853 ``rpp.tmf`` before declaring the rules for source code.
1856 - //Include a tool specification settings// comment block in ``rpp.tmf``.
1857 - Compiler options documentation available in ``armcl.pdf``.
1862 == Installation procedure ==[installation_procedure]
1866 **1) Download and install CCS for Linux:**
1868 Details on how to setup CCS are available in section
1869 [TI Code Composer Studio #ti_code_composer_studio].
1872 **2) Install RPP Target:**
1874 Open Matlab and type on command window:
1881 This will launch the RPP setup script. This script will ask the user to provide the path to the CCS
1882 compiler root directory (the directory where ``armcl`` binary is located), normally:
1885 <ccs>/tools/compiler/arm_5.X.X/
1888 This script will, among other things, ask the user to provide the location of the armcl parent
1889 directory, infer and save some relevant CCS paths, add paths to Matlab path and build S-Function
1890 blocks for user's architecture (using Matlab's mex command line tool).
1893 **3) Create a new model or load a demo:**
1895 Demos are located on ``<repo>/rpp/demo`` or you can start a new model and configure target to RPP.
1896 For new models see [Target Reference #target_reference] section below.
1900 == Target Reference ==[target_reference]
1904 This section describes the options required or available for running a Simulink model with the RPP
1907 === Simulink model options ===[simulink_model_options]
1911 The Simulink model needs to be configured in the following way:
1914 - //fixed-step discrete//.
1915 - Tasking mode set to //SingleTasking//. @@
1916 [400-simulink_solver.png]
1918 - Diagnostics - Sample Time:
1919 - Disable warning source block specifies -1 sampling time. It's ok for the source blocks to run
1921 [400-simulink_diagnostics.png]
1923 - Set to ``rpp.tlc``. @@
1924 [400-simulink_code.png]
1927 Note: Single Tasking is the only currently supported mode. If multitasking is required to be
1928 implemented in the future create a new file ``rpp_mrmain.tlc`` in ``<repo>/rpp/rpp/`` and
1929 edit ``rpp_file_process.tlc`` to use that file instead when multitasking is selected.
1932 === RPP Target options ===[rpp_target_options]
1936 The RPP Target include the following configuration options, all of them configurable per model
1937 under ``Code Generation`` -> ``RPP Options``:
1939 - **C system stack size**: this parameter is passed directly to the linker for the allocation of
1940 the stack. Note that this is the stack for the application when running outside a FreeRTOS task,
1941 normally before the scheduler has started and for system routines. Default value is 4096.
1943 - **C system heap size**: this parameter is passed directly to the linker for the allocation of the
1945 [Appendix A: Notes on FreeRTOS memory management #appendix_a_notes_on_freertos_memory_management]
1946 for an important information about this parameter.
1948 - **Model step task stack size**: this parameter will be passed to the ``xTaskCreate()`` that
1949 creates the task for the model to run. In a Simulink model there is always two tasks:
1950 - The worker task. This task is the one that executes the model step. This task requires enough
1951 stack memory to execute the step. Take into account for example than only a single call to
1952 ``rpp_sci_printf()`` requires, with current configuration, 128 bytes from the stack. This value
1953 should be minor than the C system heap and leaving enough heap for the system tasks. See
1954 [Appendix A: Notes on FreeRTOS memory management #appendix_a_notes_on_freertos_memory_management]
1955 for more information.
1956 - The control task. This task controls when the worker task should execute and controls overruns.
1958 - **Download compiled binary to RPP**: if set, this option will download the generated binary to
1959 the board after the model is successfully built. Note that this option is unaware of the option
1960 //Generate code only// in the //Code Generation// options panel, so it will try to upload even if
1961 only source code has being generated, failing graciously or uploading an old binary laying around
1962 in the build directory. This option calls the ``rpp_download.m`` script, which is in turn a
1963 wrapper on the ``loadti.sh`` script. More information on the ``loadti.sh`` script can be found
1966 <css>/ccs_base/scripting/examples/loadti/readme.txt
1967 http://processors.wiki.ti.com/index.php/Loadti
1969 The ``loadti.sh`` script will close after the download of the generated program and in
1970 consequence the execution of the loaded program will stop (because it work as the CCS debug
1971 server). In order to test the loaded model a manual reset of the board is always required after a
1972 successful download.
1974 - **Print model metadata to SCI at start**: if set this option will print a message to the Serial
1975 Communication Interface when the model start execution on the board. This is very helpful to
1976 identify the model running on the board. The message is in the form:
1978 `model_name' - generated_date (TLC tlc_version)
1982 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1987 = Simulink Block Library =[simulink_block_library]
1991 %tex% ''' \vspace{-0.25cm}
1993 The Simulink Block Library is a set of blocks that allows Simulink models to use board IO and
1994 communication peripherals.
1996 %tex% ''' \vspace{-0.5cm}
1998 == Description ==[description]
2002 %tex% ''' \vspace{-0.25cm}
2004 As part of this project the ideal set was defined, but not all blocks were implemented. The
2005 following table shows the current status of the block library.
2007 %tex% ''' \vspace{-0.25cm}
2009 || CATEGORY | NAME | STATUS* | MNEMONIC | LRH*
2010 | System blocks | Configuration block | ``X`` | ``[CONF]`` | ``RppConfig.h`` |
2011 | Logic IO blocks | Digital Input block | ``T`` | ``[DIN ]`` | ``rpp_din.h`` |
2012 | | Digital Output block | ``T`` | ``[LOUT]`` | ``rpp_lout.h`` |
2013 | | Analog Input block | ``T`` | ``[AIN ]`` | ``rpp_ain.h`` |
2014 | | Analog Output block | ``T`` | ``[AOUT]`` | ``rpp_aout.h`` |
2015 | Power output blocks | H-Bridge Control block | ``T`` | ``[HBR ]`` | ``rpp_hbr.h`` |
2016 | | Power output block | ``T`` | ``[MOUT]`` | ``rpp_mout.h`` |
2017 | | High-Power output block | ``X`` | ``[HOUT]`` | ``rpp_hout.h`` |
2018 | Communication blocks | CAN Bus receive block | ``X`` | ``[CANR]`` | ``rpp_can.h`` |
2019 | | CAN Bus send msg block | ``X`` | ``[CANS]`` | - Idem - |
2020 | | LIN receive block | ``X`` | ``[LINR]`` | ``rpp_lin.h`` |
2021 | | LIN send msg block | ``X`` | ``[LINS]`` | - Idem - |
2022 | | FlexRay receive block | ``X`` | ``[FRR ]`` | ``rpp_fr.h`` |
2023 | | FlexRay send msg block | ``X`` | ``[FRS ]`` | - Idem - |
2024 | | SCI receive block | ``T`` | ``[SCIR]`` | ``rpp_sci.h`` |
2025 | | SCI send msg block | ``T`` | ``[SCIS]`` | - Idem - |
2026 | | SCI configure block | ``T`` | ``[SCIC]`` | - Idem - |
2027 | | Ethernet receive block | ``X`` | ``[ETHR]`` | ``rpp_eth.h`` |
2028 | | Ethernet send msg block | ``X`` | ``[ETHS]`` | - Idem - |
2029 | Logging/Storage blocks | SD Card write block | ``T`` | ``[SDCW]`` | ``rpp_sdc.h`` |
2030 | | SDRAM write block | ``X`` | ``[SDRW]`` | ``rpp_sdr.h`` |
2031 | Trigger blocks | Overrun detected block | ``X`` | ``[TROR]`` | - None - |
2032 | | Stack overflow detected block | ``X`` | ``[TRSO]`` | - None - |
2033 | | Malloc Failed detected block | ``X`` | ``[TRMF]`` | - None - |
2035 %tex% ''' \vspace{-0.5cm}
2038 - *LRH : Library Reference Header.
2040 - ``X`` - Unimplemented. Files non present.
2041 - ``P`` - Unimplemented. Files present.
2042 - ``W`` - Work in progress.
2043 - ``I`` - Implemented.
2044 - ``T`` - Implemented and tested.
2047 __Notes__: Each block that can detect fault condition should have a trigger output. @@
2048 High-power output provides current flow as an input to the model.
2052 === C MEX S-Functions ===[c_mex_s_functions]
2054 All of the blocks are implemented as a C Mex S-Function coded by hand. In the this section the
2055 approach taken is explained.
2058 - C : Implemented in C language. Other options are Fortran and Matlab language itself.
2059 - MEX: Matlab Executable. They are compiled by Matlab GCC wrapper called MEX.
2060 - S-Function: System Function, as opposed to standard functions, or user functions.
2063 A C-MEX S-Function is a structured C file that includes the following mandatory callbacks:
2065 + ``mdlInitializeSizes``: @@
2066 Specify the number of inputs, outputs, states, parameters, and other characteristics of the C
2068 + ``mdlInitializeSampleTimes``: @@
2069 Specify the sample rates at which this C MEX S-function operates.
2070 + ``mdlOutputs``: @@
2071 Compute the signals that this block emits.
2072 + ``mdlTerminate``: @@
2073 Perform any actions required at termination of the simulation.
2076 Plus many more optional callbacks. Relevant optional callbacks are:
2078 + ``mdlCheckParameters``: @@
2079 Check the validity of a C MEX S-function's parameters.
2081 Generate code generation data for a C MEX S-function.
2082 + ``mdlSetWorkWidths``: @@
2083 Specify the sizes of the work vectors and create the run-time parameters required by the C MEX
2086 Initialize the state vectors of the C MEX S-function.
2089 A complete list of callbacks can be found in:
2091 http://www.mathworks.com/help/simulink/create-cc-s-functions.html
2095 The way a C-MEX S-Function participates in a Simulink simulation is shown by the following diagram:
2097 %tex% ''' \begin{figure}[H]\begin{center}
2098 [250-sfunctions_process.png]
2099 %tex% ''' \caption{Simulation cycle of a S-Function.}\end{center}\end{figure}
2101 In general, a S-Function can perform
2106 To compile a C-MEX S-Function just execute:
2110 === Target Language Compiler files ===[target_language_compiler_files]
2117 == Subdirectory content description ==[subdirectory__content_description]
2121 -> ``header.c`` and ``trailer.c``
2123 RPP framework for simple S-Functions.
2125 This files are included at the head and tail of each S-Function file. They include refactored and
2126 commonly repeated structures that pollute S-Functions implementations. They include basic includes,
2127 required definitions, macro definitions, common functions implementations and documentation on
2128 optional functions and commented prototypes for optional model calls/hooks.
2134 -> ``sfunction_{mnemonic}.c``
2136 C-MEX S-Function implementation for {mnemonic} block.
2138 This file implements the {mnemonic} block using C-MEX S-Function API. See the reference for information
2139 about the S-Function API.
2142 - ``<repo>/refs/sfunctions.pdf``
2145 -> ``tlc_c/sfunction_{mnemonic}.tlc``
2147 Target Language Compiler (TLC) file for {mnemonic} block.
2149 This file implements the C code inlining for {mnemonic} block. See the reference for information about
2153 - ``<repo>/refs/rtw_tlc.pdf``
2156 -> ``tlc_c/common.tlc``
2158 Common TLC functions.
2160 This file implements common TLC functions used by all the blocks.
2168 Simulink library control file.
2170 This file allows a group of blocks to be integrated into the Simulink Library and Simulink Library
2171 Browser. This file is required by Simulink in order to interpret this folder as a block library.
2172 For information about this file see the references.
2175 - ``<repo>/refs/rtw_ug.pdf`` p. 1127
2180 RPP Simulink block library.
2182 Simulink block library that includes all the blocks. This file is referenced by ``slblocks.m``
2190 Blocks compilation script.
2192 This script compiles all the sfunction blocks to MEX executables. This script is called by the
2193 ``rpp_setup()`` function in order make all the blocks available to the Simulink environment or it
2194 can be called independently when developing S-Functions.
2202 == Block Library Reference ==[block_library_reference]
2206 This section describes each one of the Simulink blocks implements as part of this project:
2208 %tex% ''' \begin{figure}[H]\advance\leftskip-1cm
2209 [530-block_library.png]
2210 %tex% ''' \caption{Simulink RPP Block Library.}\end{figure}
2214 === DIN Digital Input block ===[din_digital_input_block]
2227 uint8 Pin number [1-16]
2228 bool Use variable threshold
2231 This block allows to read the digital inputs on the RPP board. The variable threshold check change
2232 the read mode of the pin. The ErrFlag should raise if ``rpp_din_update()`` or ``rpp_din_get()``
2233 returns error. ``rpp_din_update()`` is called just by the first DIN block in the model and thus
2234 only the first block could raise the flag because of this. In case an errors occurs the return
2235 value will always be LOW (0). Because the ErrFlag should never set, once set the following steps
2236 will never clear it back.
2239 %tex% ''' \begin{multicols}{3}
2242 - Compilation and general use.
2243 - Using variable threshold.
2246 %tex% ''' \vfill\columnbreak
2248 - Faulty situation for the ErrFlag to set.
2251 %tex% ''' \vfill\columnbreak
2255 %tex% ''' \end{multicols}
2258 **RPP API functions used:**
2259 - ``rpp_din_setup()``.
2260 - ``rpp_din_update()``.
2261 - ``rpp_din_get()``.
2265 - ``digital_passthrough``.
2266 - ``hbridge_digital_control``.
2271 === LOUT Digital Output block ===[lout_digital_output_block]
2283 uint8 Pin number [1-8]
2286 This block allows to write to the digital outputs on the RPP board. The ErrFlag should raise if
2287 ``rpp_lout_set()`` or ``rpp_lout_update()`` returns error. Because the ErrFlag should never set,
2288 once set the following steps will never clear it back. ``rpp_lout_update()`` is called on each
2289 block, which is not the most efficient but guaranties consistent behavior.
2293 %tex% ''' \begin{multicols}{3}
2296 - Compilation and general use.
2299 %tex% ''' \vfill\columnbreak
2301 - Faulty situation for the ErrFlag to set.
2304 %tex% ''' \vfill\columnbreak
2308 %tex% ''' \end{multicols}
2311 **RPP API functions used:**
2312 - ``rpp_lout_set()``.
2313 - ``rpp_lout_update()``.
2317 - ``digital_passthrough``.
2318 - ``led_blink_all``.
2324 === AIN Analog Input block ===[ain_analog_input_block]
2337 uint8 Pin number [1-12]
2340 This block allows to read the analog inputs on the RPP board. The ErrFlag should if raise
2341 ``rpp_ain_update()`` or ``rpp_ain_get()`` returns error. ``rpp_ain_update()`` is called just by the
2342 first DIN block in the model and thus only the first block could raise the flag because of this.
2343 In case an errors occurs the return value will always be 0. Because the ErrFlag should never set,
2344 once set the following steps will never clear it back.
2348 %tex% ''' \begin{multicols}{3}
2351 - Compilation and general use.
2354 %tex% ''' \vfill\columnbreak
2356 - Faulty situation for the ErrFlag to set.
2359 %tex% ''' \vfill\columnbreak
2363 %tex% ''' \end{multicols}
2366 **RPP API functions used:**
2367 - ``rpp_ain_update()``.
2368 - ``rpp_ain_get()``.
2372 - ``analog_passthrough``.
2373 - ``hbridge_analog_control``.
2374 - ``log_analog_input``.
2379 === AOUT Analog Output block ===[aout_analog_output_block]
2385 uint16 Analog Output
2391 uint8 Pin number [1-4]
2395 This block allows to write to the analog outputs on the RPP board. The UseVoltage flag allows the
2396 user to configure if block inputs should be interpreted as raw DAC value or millivolts. The ErrFlag
2397 should raise if ``rpp_aout_update()`` or ``rpp_aout_set()`` (or ``rpp_aout_set_voltage()``
2398 depending on block configuration) returns error. Because the ErrFlag should never set, once set the
2399 following steps will never clear it back.
2401 ``rpp_aout_update()`` is called on each block but the implementation provides this to be efficient.
2403 There is a know bug on the RPP Library, check ``rpp_aout_update()`` on the RPP API for details.
2404 Because of this, the outputs of the DACs are initialized on the first step of the model and not on
2405 the model initialization.
2409 %tex% ''' \begin{multicols}{3}
2412 - Changing voltage/value flag.
2413 - Compilation and general use.
2416 %tex% ''' \vfill\columnbreak
2418 - Faulty situation for the ErrFlag to set.
2421 %tex% ''' \vfill\columnbreak
2423 - Initializing DACs on model's initialization.
2426 %tex% ''' \end{multicols}
2429 **RPP API functions used:**
2430 - ``rpp_aout_setup()``.
2431 - ``rpp_aout_set()``, or
2432 - ``rpp_aout_set_voltage()``.
2433 - ``rpp_aout_update()``.
2437 - ``analog_passthrough``.
2438 - ``analog_sinewave``.
2443 === HBR H-Bridge Control block ===[hbr_h_bridge_control_block]
2458 This block allows to control the H-Bridge on the RPP board. The ErrFlag should raise only if
2459 ``rpp_hbr_control()`` returns error. The H-Bridge is initialized with the default frequency
2460 (~18kHz). A future improvement could include a parameter to set the frequency. Because the ErrFlag
2461 should never set, once set the following steps will never clear it back.
2465 %tex% ''' \begin{multicols}{3}
2467 - Compilation and general use.
2470 %tex% ''' \vfill\columnbreak
2472 - Faulty situation for the ErrFlag to set.
2475 %tex% ''' \vfill\columnbreak
2479 %tex% ''' \end{multicols}
2482 **RPP API functions used:**
2483 - ``rpp_hbr_enable()``.
2484 - ``rpp_hbr_control()``.
2488 - ``hbridge_analog_control``.
2489 - ``hbridge_digital_control``.
2490 - ``hbridge_sinewave_control``.
2495 === MOUT Power Output block ===[mout_power_output_block]
2507 uint8 Pin number [1-6]
2510 This block allows to write the power outputs (2A) on the RPP board. The ErrFlag should raise only
2511 if ``rpp_mout_set()``returns error. Note that ``rpp_mout_set()`` returns error only if some bad
2512 parameter or in case it could detect a faulty condition on the pin in a very very short period of
2513 time after setting the value, see the function API for details. If the faulty condition persist on
2514 the next step the call will successfully detect the faulty condition and ErrFlag should set.
2515 Because the ErrFlag should never set, once set the following steps will never clear it back.
2519 %tex% ''' \begin{multicols}{3}
2522 - Compilation and general use.
2525 %tex% ''' \vfill\columnbreak
2527 - Faulty situation for the ErrFlag to set.
2530 %tex% ''' \vfill\columnbreak
2534 %tex% ''' \end{multicols}
2537 **RPP API functions used:**
2538 - ``rpp_mout_set()``.
2547 === SCIR Serial Comm. Interface Receive ===[scir_serial_comm_interface_receive]
2563 This block allows to receive a byte from the SCI. The ErrFlag should raise if ``rpp_sci_read_nb()``
2564 doesn't succeed. The behavior of the ErrFlag is different from others blocks in that this block
2565 will set or clear the flag if the call fails of success at each step. Note that this block uses the
2566 non-blocking call to read the SCI and thus will never cause an overrun.
2570 %tex% ''' \begin{multicols}{3}
2573 - Compilation and general use.
2574 - Faulty situation for the ErrFlag to set.
2577 %tex% ''' \vfill\columnbreak
2581 %tex% ''' \vfill\columnbreak
2585 %tex% ''' \end{multicols}
2588 **RPP API functions used:**
2589 - ``rpp_sci_read_nb()``.
2598 === SCIS Serial Comm. Interface Send ===[scis_serial_comm_interface_send]
2611 string PrintFormat [SETTING]
2614 This block allows to send a byte to the SCI or to print a formatted string that uses that byte. The
2615 UsePrintf flag allows to user to select ``rpp_sci_write_nb()`` (raw send) or ``rpp_sci_printf()``
2616 (formatted print) as the function the block should use on code generation. If UsePrintf is set the
2617 PrintFormat string parameters SETTING is used as the format specifier. Note that this value is
2618 inserted raw between quotes on code generation and thus there is no validation on it. User should
2619 always put any valid integer specifier for the value on the input of the block.
2621 The behavior of this block depends if UsePrintf is set or not. If set, the call ``rpp_sci_printf()``
2622 (a blocking call) could potentially overrun the step. Also, the ErrFlag will set only if
2623 ``rpp_sci_printf()`` returns an error, and because it should never set, once set it will never
2624 clear back. On the contrary, if UsePrintf is clear, the call ``rpp_sci_write_nb()`` (non-blocking)
2625 is used and thus the step cannot be overrun, but because is a best-effort call it cannot guarantee
2626 that all the data will be sent. In the case that not all data could be sent, the ErrFlag will set,
2627 but it will clear back if the next step is able to send all it's data (which with the current
2628 implementation is just one byte).
2630 A possible future improvement for this block is to allow input to be non-scalar so user can print a
2631 whole string in one step using raw non-blocking write. This is currently possible if input
2632 configuration is adapted in S-Function and TLC. The problem this could pose is is that for printf
2633 user should include specifiers for all the cells in the non-scalar input, and if unknown, then
2634 printf cannot be used.
2638 %tex% ''' \begin{multicols}{3}
2641 - Compilation and general use.
2644 %tex% ''' \vfill\columnbreak
2646 - Faulty situation for the ErrFlag to set.
2649 %tex% ''' \vfill\columnbreak
2653 %tex% ''' \end{multicols}
2656 **RPP API functions used:**
2657 - ``rpp_sci_write_nb()``, or ``rpp_sci_printf()``.
2661 - ``echo_char`` and ``hello_world``.
2666 === SCIC Serial Comm. Interface Configure ===[scic_serial_comm_interface_configure]
2681 This block allows to configure the baud rate of the SCI. There should only one block of this type
2682 per model, and this requirement is not validated, but the inclusion of several blocks is harmless
2683 and will just produce the baud rate to be changed several times, being the final baud rate to be
2684 the one of the last executed block. This block just executes on model initialization and not on
2689 %tex% ''' \begin{multicols}{3}
2691 - Changing baud rate.
2692 - Compilation and general use.
2695 %tex% ''' \vfill\columnbreak
2697 - Using more than one block in a model.
2700 %tex% ''' \vfill\columnbreak
2704 %tex% ''' \end{multicols}
2707 **RPP API functions used:**
2708 - ``rpp_sci_setup()``.
2718 === SDRW SD-RAM Write ===[sdrw_sd_ram_write]
2731 string PrintFormat [SETTING]
2734 This block allows to log a double value to the SD-RAM. User needs to provide a valid PrintFormat
2735 string to format and register the double value on the log. The PrintFormat string should include
2738 - For the block ID. Any valid integer specifier.
2739 - For the value to log. Any valid double specifier.
2742 Note that the value of PrintFormat is inserted raw between quotes on code generation and thus there
2743 is no validation on it. Error to provide a valid PrintFormat could generate compilation errors on
2744 even run-time errors (normally this generates a warning on compile time). Note that the function
2745 for logging used is ``rpp_sdr_printf()``, which is a blocking call, and can potentially overrun the
2746 step. The ErrFlag will set if ``rpp_sdr_printf()`` returns an error (for example out of memory),
2747 but will clear back if the next step the call to this function is successful.
2751 %tex% ''' \begin{multicols}{3}
2754 - Compilation and general use.
2757 %tex% ''' \vfill\columnbreak
2759 - Faulty situation for the ErrFlag to set.
2762 %tex% ''' \vfill\columnbreak
2766 %tex% ''' \end{multicols}
2769 **RPP API functions used:**
2770 - ``rpp_sdr_printf()``.
2774 - ``log_analog_input``.
2779 = Simulink Demos Library =[simulink_demos_library]
2783 The Simulink RPP Demo Library is a set of Simulink models that use blocks from the Simulink RPP
2784 Block Library and generates code using the Simulink RPP Target.
2786 == Description ==[description]
2790 This demos library is used as a test suite for the Simulink RPP Block Library but they are also
2791 intended to show basic programs built using it. Because of this, the demos try to use more than one
2792 type of block and more than one block per block type.
2794 The following table shows the current status of the demos:
2796 || Name | Implemented | Tested |
2797 | analog_passthrough | YES | SUCCESS |
2798 | analog_sinewave | YES | SUCCESS |
2799 | digital_passthrough | YES | SUCCESS |
2800 | echo_char | YES | SUCCESS |
2801 | hbridge_analog_control | YES | SUCCESS |
2802 | hbridge_digital_control | YES | SUCCESS |
2803 | hbridge_sinewave_control | YES | SUCCESS |
2804 | hello_world | YES | SUCCESS |
2805 | led_blink_all | YES | SUCCESS |
2806 | led_blink | YES | SUCCESS |
2807 | log_analog_input | YES | SUCCESS |
2808 | power_toggle | YES | SUCCESS |
2810 In the reference below you can find a complete description for each of the demos.
2812 == Subdirectory content description ==[subdirectory__content_description]
2820 This subdirectory just includes all the Simulink demos described in the following section.
2824 == Demos Reference ==[demos_reference]
2828 This section describes the demos implemented as part of this project that uses the Simulink RRP
2829 Block Library and generates code using the RPP Simulink Target.
2831 === Analog pass-through ===[analog_pass_through]
2835 %tex% ''' \begin{figure}[H]\begin{center}
2836 [450-demo_analog_passthrough.png]
2837 %tex% ''' \caption{Analog Passthrough Simulink demo for RPP.}\end{center}\end{figure}
2841 This demo will read analog input 1 and write it to analog output 1.
2843 In laboratory the minimum read value for analog input a 0 volts is 107. The maximum read at 12
2844 volts is 2478. The map subsystem will map the input domain (AIN)``[110, 2400]`` to the output domain
2845 (AOUT)``[0, 4095]``.
2849 === Analog sinewave ===[analog_sinewave]
2853 %tex% ''' \begin{figure}[H]\begin{center}
2854 [450-demo_analog_sinewave.png]
2855 %tex% ''' \caption{Analog Sinewave Simulink demo for RPP.}\end{center}\end{figure}
2859 This demo will generate a sinewave on analog output 1. Siwave is 10Hz and sampling rate is set to
2860 1000Hz (driven from Simulink step of 1ms, same as operating system). Amplitude is set to use AOUT
2861 full range [0-4095] which means output amplitude will be [0-12] volts.
2863 The Software oscilloscope shown should match an external one connected to AOUT 1.
2865 Note that the driver configuration of the MCP4922 is set to unbuffered (which should eventually
2866 be changed to buffered) and thus the last resolution millivolts are lost.
2870 === Digital pass-through ===[digital_pass_through]
2874 %tex% ''' \begin{figure}[H]\begin{center}
2875 [400-demo_digital_passthrough.png]
2876 %tex% ''' \caption{Digital Pass-through Simulink demo for RPP.}\end{center}\end{figure}
2880 This demo will directly pass the digital values read on DIN [1-8] to LOUT [1-8], and thus acting
2881 as a digital pass-through or gateway.
2883 Also note that all the ErrFlag are aggregated on a global ErrFlag.
2887 === Echo char ===[echo_char]
2891 %tex% ''' \begin{figure}[H]\begin{center}
2892 [450-demo_echo_char.png]
2893 %tex% ''' \caption{Echo Character Simulink demo for RPP.}\end{center}\end{figure}
2897 This demo will echo twice (print back) any character received through the Serial Communication
2898 Interface (9600-8-N-1).
2900 Note that the send subsystem is implemented a as //triggered// subsystem and will execute only
2901 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2905 === H-bridge analog control ===[h_bridge_analog_control]
2909 %tex% ''' \begin{figure}[H]\begin{center}
2910 [450-demo_hbridge_analog_control.png]
2911 %tex% ''' \caption{H-Bridge Analog Control Simulink demo for RPP.}\end{center}\end{figure}
2915 This demo will read values from the analog input, map them, and control the H-Bridge. This allows
2916 a motor connected to the H-Bridge to be controlled with a potentiometer connected to Analog Input 1.
2918 Setting the potentiometer to output around 6 volts will stop the motor. Less (or greater) than 6
2919 volts will trigger the motor in one sense (or in the other sense) and speed proportional with 1%
2922 In laboratory the minimum read value for analog input is 107 at 0 volts. The maximum read at 12 volts
2923 is 2478. The map subsystem will map the input domain (AIN)``[110, 2400]`` to the output domain
2924 (HBR)``[-1.0, 1.0]``.
2928 === H-bridge digital control ===[h_bridge_digital_control]
2932 %tex% ''' \begin{figure}[H]\begin{center}
2933 [450-demo_hbridge_digital_control.png]
2934 %tex% ''' \caption{H-Bridge Digital Control Simulink demo for RPP.}\end{center}\end{figure}
2938 This demo toggle the H-Bridge from stop to full speed in one direction using digital input 1.
2939 So basically is a ON/OFF switch on DIN 1 for a motor connected on the HBR. Note the data type
2940 conversion because the output of the DIN is a boolean and the input to the HBR is a double.
2944 === H-bridge sinewave control ===[h_bridge_sinewave_control]
2948 %tex% ''' \begin{figure}[H]\begin{center}
2949 [300-demo_hbridge_sinewave_control.png]
2950 %tex% ''' \caption{H-Bridge Sinewave Control Simulink demo for RPP.}\end{center}\end{figure}
2954 This demo will generate a sine wave to control the H-Bridge. Sine wave is one period per 20
2955 seconds or 0.05Hz. Sampling rate is 20Hz or 100 samples per 1/4 of period (for 1% speed
2958 Note that the Software oscilloscope should is not the output of the H-Bridge, the H-Bridge will
2959 change current sense and the duty cycle of the pulse that drive it (PWM), it does not output
2960 analog values. The Software oscilloscope just shows what the input to the HBR block is.
2964 === Hello world ===[hello_world]
2968 %tex% ''' \begin{figure}[H]\begin{center}
2969 [450-demo_hello_world.png]
2970 %tex% ''' \caption{Hello World Simulink demo for RPP.}\end{center}\end{figure}
2974 This demo will print ``"Hello Simulink"`` to the Serial Communication Interface (9600-8-N-1) one
2975 character per second. The output speed is driven by the Simulink model step which is set to one
2980 === LED blink ===[led_blink]
2984 %tex% ''' \begin{figure}[H]\begin{center}
2985 [450-demo_led_blink.png]
2986 %tex% ''' \caption{LED Blink Simulink demo for RPP.}\end{center}\end{figure}
2990 This the simplest demo of all that shows the basics of using the RPP target and blocks. The
2991 goal of this demo is to show the configuration of the model (not shown on the picture above),
2992 that is, how the RPP Simulink Coder Target is setup, general model setup and step setup.
2994 This demo will toggle each second a LED connected on LOUT 1. The timing is set by the Simulink
2995 model step which is set to 1 second.
2999 === LED blink all ===[led_blink_all]
3003 %tex% ''' \begin{figure}[H]\begin{center}
3004 [350-demo_led_blink_all.png]
3005 %tex% ''' \caption{LED Blink All Simulink demo for RPP.}\end{center}\end{figure}
3009 This demo will toggle all LEDs connected to the LOUT port. Even outputs pins will be negated.
3010 Toggle will happen each second. The timing is driven by Simulink model step configuration that
3011 is set to 1 second. All blocks ErrFlags are aggregated into one global ErrFlag.
3015 === Log analog input ===[log_analog_input]
3019 %tex% ''' \begin{figure}[H]\begin{center}
3020 [450-demo_log_analog_input.png]
3021 %tex% ''' \caption{Log Analog Input Simulink demo for RPP.}\end{center}\end{figure}
3025 This demo will log once per second the value read on the analog input 1. User can read the log
3026 using the SCI logging integrated command processor (9600-8-N-1). Logging block ID set to 1. The
3027 timing is driven by Simulink model step configuration that is set to 1 second.
3031 === Power toggle ===[power_toggle]
3035 %tex% ''' \begin{figure}[H]\begin{center}
3036 [300-demo_power_toggle.png]
3037 %tex% ''' \caption{Power Toggle Simulink demo for RPP.}\end{center}\end{figure}
3041 This demo will toggle the power output once per second. If an error is detected on at least one of
3042 the outputs a generic error message is printed to the serial line. The timing is driven by Simulink
3043 model step configuration that is set to 1 second. Power outputs can drive a load up to 2A, so please
3044 take into account required safety considerations.
3048 = Glossary =[glossary]
3053 //Analog to Digital Converter.// @@
3054 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
3055 digital number that represents the quantity's amplitude.
3058 //Analog Input.// @@
3059 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
3062 //Analog Output.// @@
3063 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
3066 //Controller Area Network.// @@
3067 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
3068 communicate with each other within a vehicle without a host computer.
3069 In this project it is also used as mnemonic to refer to or something related to the CAN
3073 //Code Generation Tools.// @@
3074 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
3075 assemble, archive, among others. In this project is normally used as synonym for
3076 ``Texas Instruments ARM compiler and linker."
3079 //Digital to Analog Converter.// @@
3080 Hardware circuitry that converts a digital (usually binary) code to an analog signal
3081 (current, voltage, or electric charge).
3084 //Digital Input.// @@
3085 Mnemonic to refer to or something related to the digital input hardware module.
3088 //Engine Control Unit.// @@
3089 A type of electronic control unit that controls a series of actuators on an internal combustion
3090 engine to ensure the optimum running.
3094 Mnemonic to refer to or something related to the Ethernet hardware module.
3098 FlexRay is an automotive network communications protocol developed to govern on-board automotive
3100 In this project it is also used as mnemonic to refer to or something related to the FlexRay
3104 //General Purpose Input/Output.// @@
3105 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
3106 controlled (programmed) by the user at run time.
3110 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
3111 an electronic circuit that enables a voltage to be applied across a load in either direction.
3114 //High-Power Output.// @@
3115 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
3116 output hardware module.
3119 //Integrated Development Environment.// @@
3120 An IDE is a Software application that provides comprehensive facilities to computer programmers
3121 for software development.
3124 //Local Interconnect Network.// @@
3125 The LIN is a serial network protocol used for communication between components in vehicles.
3126 In this project it is also used as mnemonic to refer to or something related to the LIN
3130 //Logic Output.// @@
3131 Mnemonic to refer to or something related to the digital output hardware module.
3132 It is logic output (100mA), as opposed to power outputs (2A, 10A).
3135 //Model-Based Design.// @@
3136 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
3137 with designing complex control, signal processing and communication systems.
3140 //Matlab Executable.// @@
3141 Type of binary executable that can be called within Matlab. In this document the common term
3142 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
3146 //(Motor) Power Output.// @@
3147 Mnemonic to refer to or something related to the 2A push/pull power output hardware module.
3150 //Pulse-width modulation.// @@
3151 Technique for getting analog results with digital means. Digital control is used to create a
3152 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
3153 in between full on and off by changing the portion of the time the signal spends on versus
3154 the time that the signal spends off. The duration of ``on time" is called the pulse width or
3158 //Rapid Prototyping Platform.// @@
3159 Name of the automotive hardware board. Also generic term to define something related
3160 to the board, like the RPP Library, RPP Layer, RPP API, etc.
3163 //Serial Communication Interface.// @@
3164 Serial Interface for communication through hardware's UART using communication standard RS-232.
3165 In this project it is also used as mnemonic to refer to or something related to the Serial
3166 Communication Interface hardware module.
3170 Mnemonic to refer to or something related to the SD-Card hardware module.
3174 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
3177 //Target Language Compiler.// @@
3178 Technology and language used to generate code in Matlab/Simulink.
3181 //Universal Asynchronous Receiver/Transmitter.// @@
3182 Hardware circuitry that translates data between parallel and serial forms.
3188 = References =[references]
3192 - Horn, M. (2013). //Software obsluhující periferie a flexray na automobilové rídicí jednotce//.
3193 (Unpublished master's thesis, Czech Technical University in Prague, Prague, Czech Republic).
3195 - //Model-based design//. (n.d.). In Wikipedia. Retrieved March 10, 2013, from @@
3196 http://en.wikipedia.org/wiki/Model-based_design
3198 - (2012). //ARM Assembly Language Tools//. Texas Instruments.
3200 - (2012). //ARM Optimizing C/C++ Compiler//. Texas Instruments.
3202 - (2013). //Embedded Coder - Reference//. MathWorks.
3204 - (2013). //Embedded Coder - User's Guide//. MathWorks.
3206 - Barry, R. (2009). //Using the FreeRTOS real time kernel - A practical guide//.
3208 - (2013). //Simulink Coder - Reference//. MathWorks.
3210 - (2013). //Simulink - Target Language Compiler//. MathWorks.
3212 - (2013). //Simulink Coder - User's Guide//. MathWorks.
3214 - (2013). //Simulink - Developing S-Functions//. MathWorks.
3216 - (2012). //TMS570LS31x/21x 16/32-Bit RISC Flash Microcontroller - Technical Reference Manual//.
3222 = Appendix A: Notes on FreeRTOS memory management =[appendix_a_notes_on_freertos_memory_management]
3226 FreeRTOS provides 4 different (at the time of this writing) memory management implementations.
3227 On vanilla distribution of FreeRTOS these can be found in
3228 ``<FreeRTOSRoot>/FreeRTOS/Source/portable/MemMang`` with the names ``heap_1.c``, ``heap_2.c``,
3229 ``heap_3.c`` and ``heap_4.c``. The user is supposed to choose one and rename it to ``heap.c``
3230 and include it in the port for the target processor. Memory management implementation of each file
3231 is explained in depth in:
3233 [Memory Management http://www.freertos.org/a00111.html]
3235 The above is a must read documentation. In summary:
3239 - Use a static allocated array for memory and thus will be placed on the ``.bss`` section.
3240 - Subdivides the array into smaller blocks as RAM is requested.
3241 - Memory cannot be freed.
3242 - Array is as large as ``configTOTAL_HEAP_SIZE`` option in ``FreeRTOSConfig.h``.
3247 - Use a static allocated array for memory and thus will be placed on the ``.bss`` section.
3248 - Uses a best fit algorithm and allows previously allocated blocks to be freed.
3249 - It does **not** however combine adjacent free blocks into a single large block.
3250 - Array is as large as ``configTOTAL_HEAP_SIZE`` option in ``FreeRTOSConfig.h``.
3255 - Wrapper around standard C library ``malloc()`` and ``free()``.
3256 - Wrapper makes ``malloc()`` and ``free()`` functions thread safe.
3257 - Memory is as large as defined in linker for C system heap.
3258 - ``configTOTAL_HEAP_SIZE`` option in ``FreeRTOSConfig.h`` is ignored.
3263 - Use a static allocated array for memory and thus will be placed on the ``.bss`` section.
3264 - Uses a first fit algorithm.
3265 - It **does** combine adjacent free memory blocks into a single large block (it does include a
3266 coalescence algorithm).
3267 - Array is as large as ``configTOTAL_HEAP_SIZE`` option in ``FreeRTOSConfig.h``.
3270 Not all kernels available for the RPP C Library use the same implementation. This is what each
3271 kernel is currently configured to use:
3273 || Kernel | Origin | Implementation |
3274 | 6.0.4 Posix | Simulator from OpenPilot.org | ``heap_3.c`` |
3275 | 7.0.2 TMS570 | HalCoGen | ``heap_1.c`` |
3276 | 7.4.0 TMS570 | HalCoGen | ``heap_4.c`` |
3277 | 7.4.2 TMS570 | Adapted from vanilla distribution | ``heap_4.c`` |
3279 The relevant implications of this are:
3281 - If a kernel with ``heap_3.c`` is used the Simulink model //C system heap size// and
3282 //Model step task stack size// should be tightly related and the first should be large enough to
3283 allocate system tasks and the stack for the stepping task.
3285 - If a kernel with ``heap_1.c`` is used the programs should not delete tasks, queues or semaphores.
3286 If the application spawn and deletes tasks it will eventually deplete the memory available. This
3287 is the case with the //rpp-test-suite//. Note that failure to allocated memory from the array
3288 will trigger the //Malloc Failed Hook Function// ``vApplicationMallocFailedHook()``, even if the
3289 implementation doesn't use the C system ``malloc()`` function. @@
3290 Also, //Model step task stack size// should never be set larger than ``configTOTAL_HEAP_SIZE``
3291 option in ``FreeRTOSConfig.h``. Currently the RPP Target doesn't include a GUI option for setting
3292 ``configTOTAL_HEAP_SIZE`` because the library is statically linked and thus memory will be of the
3293 size specified when built. The RPP Target **doesn't** check that the requested memory for the
3294 step task is less than the ``configTOTAL_HEAP_SIZE``, and if greater then the application will
3295 fail at runtime and trigger the //Malloc Failed Hook Function//.
3300 = Appendix B: Known operating-system dependent files =[appendix_b_known_operating_system_dependent_files]
3304 This project was developed on a GNU/Linux operating system. No test for cross-platform
3305 interoperability was performed on the code developed. Although care was taken to try to provide
3306 platform independent code and tools this are the elements that are know to be Linux dependent:
3308 - LCM1 hardware control tool ``lmc1.py``. @@
3309 This tool is both GUI and command line capable, the following just affects the GUI part. @@
3310 Command line should be usable under Windows systems.
3312 __Cause__: Serial port search algorithm is Linux dependent and Gtk 3.0 dynamic Python bindings
3313 are not yet available on other operating systems.
3315 - TI CGT support file for RPP Simulink Target ``target_tools.mk``.
3317 __Cause__: Use UNIX path separator ``/``.
3319 - Simulink RPP Target download script ``rpp_download.m``.
3321 __Cause__: Use UNIX path separator ``/``.
3323 - Simulink RPP Target install script ``rpp_setup.m``.
3325 __Cause__: Use UNIX path separator ``/``.
3327 - Simulink RPP Block Library block compilation script ``compile_blocks.m``.
3329 __Cause__: Call Matlab MEX executable with Unix name.
3331 - All CCS projects under ``<repo>/rpp/lib/apps/``.
3332 __Cause__: Paths are configure using UNIX path separator ``/``.