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86 % Supported targets - to be used with \ifx\tgtId\tgtIdXXX
87 \def\tgtIdTMSHDK{tms570\_hdk}
88 \def\tgtIdRMHDK{rm48\_hdk}
89 \def\tgtIdTMSRPP{tms570\_rpp}
90 \def\tgtIdHydCtr{tms570\_hydctr}
92 % Include target specific macros etc.
98 \newcommand{\HRule}{\rule{\linewidth}{0.5mm}}
103 % Upper part of the page
106 \includegraphics[width=0.35\textwidth]{images/cvut.pdf}\\[1cm]
107 \textsc{\LARGE Czech Technical University in Prague}\\[1.5cm]
113 {\huge \bfseries Simulink code generation target for Texas~Instruments
114 \tgname{} platform\par}
116 {\Large Version for \tgtBoardName{} board\par}
123 Carlos \textsc{Jenkins}\\
124 Michal \textsc{Horn}\\
125 Michal \textsc{Sojka}\\[\baselineskip]
138 \section*{Revision history}
140 \noindent\begin{tabularx}{\linewidth}{|l|l|l|X|}
141 \rowcolor[gray]{0.9}\hline
142 Revision & Date & Author(s) & Comments \\ \hline
144 0.1 beta & 2014-12-04 & Sojka, Horn & Initial version \\ \hline
146 0.2 & 2015-02-16 & Sojka, Horn & Improvements, clarifications,
149 0.3 & 2015-03-31 & Sojka, Horn & Added sections
150 \ref{sec-changing-os}, \ref{sec:adding-new-funct} and
151 \ref{sec:mult-single-thre}. Minor
154 0.4 & 2015-04-30 & Sojka, Horn & Added support for TMS570 HDK
155 platform. All RPP software
158 recompilation. \\ \hline
160 0.5 beta & 2015-07-03 & Sojka & Updated section \ref{sec:adding-new-funct}.
161 Added support for Eaton Hydraulics
162 Controller board (TMS570LS1227).
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195 \chapter{Introduction}
196 \label{chap-introduction}
198 This text documents software part of Rapid Prototyping Platform (RPP)
199 project for Texas Instruments \tgname{} safety microcontroller
200 developed by Czech Technical University in Prague (CTU). The software
201 consists of code generation target for Simulink Embedded Coder, a
202 low-level run-time C library and a tool for interactive testing of
203 hardware and software functionality.
205 Originally, the RPP project was created for a custom TMS570-based board
206 and the port to other platforms such as RM48 HDK and TMS570 HDK
207 development kits. Porting to other platforms was done under a contract
208 from Eaton Corporation.
210 The document contains step-by-step instructions for installation of
211 development tools, information about Simulink Coder configuration,
212 describes how to create new models as well as how to download the
213 resulting firmware to the hardware. It can also be used as a reference
214 for the testing tool, Matlab Simulink blocks and RPP Matlab Simulink
215 Code generator. Additionally, an overall description of the used
216 hardware platform and the architecture of included software is
220 \label{sec-background}
222 In this document, the term \emph{Rapid Prototyping Platform} denotes a
223 hardware board and accompanying software. The hardware board is
224 \tgtBoardName{} based on ARM Cortex R4 safety microcontroller
225 \mcuname{}. This MCU contains several protective mechanisms (two cores
226 in lockstep, error correction mechanisms for SRAM and Flash memory,
227 voltage monitoring, etc.) to fulfill the requirements for safety
228 critical applications. See~\cite{\tgrefman} for details.
230 In order to develop non-trivial applications for the RPP, an operating
231 system is necessary. The RPP is based on FreeRTOS -- a simple
232 opensource real-time operating system kernel. The FreeRTOS provides an
233 API for creating and managing and scheduling multiple tasks, memory
234 manager, semaphores, queues, mutexes, timers and a few of other
235 features which can be used in the applications.
236 See~\cite{usingthefreertos2009} for more details.
238 Even with the operating system it is quite hard and non-intuitive to
239 manipulate the hardware directly. That is the point when abstraction
240 comes into the play. The RPP software is made of several layers
241 implementing, from the bottom to the top, low-level device drivers,
242 hardware abstraction for common functionality on different hardware
243 and an API which is easy to use in applications. The operating system
244 and the basic software layers, can be compiled as a library and easily
245 used in any project. More details about the library can be found in
246 Chapter~\ref{chap-c-support-library} and in~\cite{michalhorn2013}.
248 Because human beings make mistakes and in safety critical applications
249 any mistake can cause damage, loos of money or in the worst case even
250 death of other people, the area for making mistakes has to be as small
251 as possible. An approach called Model-based development
252 \cite{modelbasedwiki2013} has been introduced to reduce the
253 probability of making mistakes. In model-based development, the
254 applications are designed at higher level from models and the
255 functionality of the models can be simulated in a computer before the
256 final application/hardware is finished. This allows to discover
257 potential errors earlier in the development process.
259 One commonly used tool-chain for model-based development is
260 Matlab/Simulink. In Simulink the application is developed as a model
261 made of interconnected blocks. Every block implements some
262 functionality. For example one block reads a value from an
263 analog-to-digital converter and provides the value as an input to
264 another block. This block can implement some clever algorithm and its
265 output is passed to another block, which sends the computed value as a
266 message over CAN bus to some other MCU. Such a model can be simulated
267 and tested even before the real hardware is available by replacing the
268 input and output blocks with simulated ones. Once the hardware is
269 ready, C code is automatically generated from the model by a Simulink
270 Coder. The code is then compiled by the MCU compatible compiler and
271 downloaded to the MCU Flash memory on the device. Because every block
272 and code generated from the block has to pass a series of tests during
273 their development, the area for making mistakes during the application
274 development has been significantly reduced and developers can focus on
275 the application instead of the hardware and control software
276 implementation. More information about code generation can be found in
277 Chapter \ref{chap-simulink-coder-target}. For information about Matlab
278 Simulink, Embedded Coder and Simulink Coder, refer to
279 \cite{embeddedcoderreference2013, ebmeddedcoderusersguide2013,
280 simulinkcoderreference2013, targetlanguagecompiler2013,
281 simulinkcoderusersguide2013, simulinkdevelopingsfunctions2013}.
283 \section{Hardware description}
284 \label{sec-hardware-description}
288 \section{Software architecture}
289 \label{sec-software-architecture}
291 The core of the RPP software is the so called RPP Library. This
292 library is conceptualy structured into 5 layers, depicted in
293 Figure~\ref{fig-layers}. The architecture design was driven by the
294 following guidelines:
297 \item Top-down dependency only. No lower layer depends on anything from
299 % \item 1-1 layer dependency only. The top layer depends
300 % exclusively on the bottom layer, not on any lower level layer (except for a
301 % couple of exceptions).
302 \item Each layer should provide a unified layer interface
303 (\texttt{rpp.h}, \texttt{drv.h}, \texttt {hal.h}, \texttt{sys.h} and
304 \texttt{os.h}), so that higher layers depend on the lower layer's interface
305 and not on individual elements from that layer.
311 \includegraphics[width=250px]{images/layers.pdf}
312 \caption{The RPP library layers.}
317 As a consequence of this division the source code files and interface files are
318 placed in private directories like \texttt{drv/din.h}. With this organization
319 user applications only needs to include the top layer interface files (for
320 example \texttt{rpp/rpp\_can.h}) to be able to use the selected library API.
322 The rest of the section provides basic description of each layer.
324 \subsection{Operating System layer}
325 \label{sec-operating-system-layer}
326 This is an interchangeable operating system layer containing the
327 FreeRTOS source files. The system can be easily replaced by another
328 version. For example it is possible to compile the RPP library for
329 Linux (using POSIX version of the FreeRTOS), which can be desirable
330 for some testing. The source files can be found in the
331 \texttt{$\langle$rpp\_lib$\rangle$/os} folder.
333 The following FreeRTOS versions are distributed:
335 \item[6.0.4\_posix] POSIX version, usable for compilation of the library
337 \item[7.0.2] Preferred version of the FreeRTOS, distributed by
338 Texas Instruments. This version has been tested and is used in the current
339 version of the library.
340 \item[7.4.0] Newest version distributed by the Texas Instruments.
341 \item[7.4.2] Newer version available from FreeRTOS pages. Slightly
342 modified to run on \tgname{} MCU.
346 Both 7.4.x version were tested and work, but the testing was not so
347 extensive as with the used 7.0.2 version.
349 \subsection{System Layer}
350 \label{sec-system-layer}
351 This layer contains system files with data types definitions, clock definitions,
352 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
353 code for controlling some of the MCU peripherals. The source files can be found
354 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
355 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
358 Large part of this layer was generated by the HalCoGen tool (see
359 Section~\ref{sec-halcogen}).
361 \subsection{HAL abstraction layer}
362 \label{sec-hal-abstraction-layer}
363 Hardware Abstraction Layer (HAL) provides an abstraction over the real
364 hardware. For example imagine an IO port with 8 pins. First four pins
365 are connected directly to the GPIO pins on the MCU, another four pins
366 are connected to an external integrated circuit, communicating with
367 the MCU via SPI. This layer allows to control the IO pins
368 independently of how that are connected to the MCU, providing a single
371 Note that this functionality is not needed in the current version for
372 \tgtBoardName, because all IOs are controlled directly by GPIO pins.
374 As a result, the higher layers do not have to know anything about the
375 wiring of the peripherals, they can just call read, write or configure
376 function with a pin name as a parameter and the HAL handles all the
379 The source files can be found in
380 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/hal} and the header files can
381 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/hal} folder.
383 \subsection{Drivers layer}
384 \label{sec-drivers-layer}
385 The Drivers layer contains code for controlling the RPP peripherals.
386 Typically, it contains code implementing IRQ handling, software
387 queues, management threads, etc. The layer benefits from the lower
388 layers thus it is not too low level, but still there are some
389 peripherals like ADC, which need some special procedure for
390 initialization and running, that would not be very intuitive for the
393 The source files can be found in
394 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
395 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
397 \subsection{RPP Layer}
398 \label{sec-rpp-layer}
399 The RPP Layer is the highest layer of the library. It provides an easy
400 to use set of functions for every peripheral and requires only basic
401 knowledge about them. For example, to use the ADC, the user can just
402 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
403 Driver layer functions to initialize the hardware and software.
405 The source files can be found in
406 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
407 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
409 \section{Document structure}
410 \label{sec-document-structure}
411 The structure of this document is as follows:
412 Chapter~\ref{chap-getting-started} gets you started using the RPP
413 software. Chapter~\ref{chap-c-support-library} describes the RPP
414 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
415 code generation target and finally
416 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
417 testing of the RPP functionality.
419 \chapter{Getting started}
420 \label{chap-getting-started}
422 \section{Software requirements}
423 \label{sec-software-requirements}
424 The RPP software stack can be used on Windows and Linux platforms. The
425 following subsections mention the recommended versions of the required
426 software tools/packages.
428 \subsection{Linux environment}
429 \label{sec-linux-environment}
431 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
433 \item Kernel version 3.11.0-12.
434 \item GCC version 4.8.1
435 \item GtkTerm 0.99.7-rc1
436 \item TI Code Composer Studio 5.5.0.00077
437 \item Matlab 2013b 64b with Embedded Coder
438 \item HalCoGen 4.00 (optional)
439 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
440 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
441 \item Git 1.7.10.4 (optional)
444 \subsection{Windows environment}
445 \label{sec-windows-environment}
447 \item Windows 7 Enterprise 64b Service Pack 1.
448 \item Microsoft Windows SDK v7.1
449 \item Bray Terminal v1.9b
450 \item TI Code Composer Studio 5.5.0.00077
451 \item Matlab 2013b 64b with Embedded Coder
452 \item HalCoGen 4.00 (optional)
453 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
454 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
455 \item Git 1.9.4.msysgit.2 (optional)
458 \section{Software tools}
459 \label{sec-software-and-tools}
461 This section covers tool which are needed or recommended for work with
464 \subsection{TI Code Composer Studio}
466 Code Composer Studio (CCS) is the official Integrated Development Environment
467 (IDE) for developing applications for Texas Instruments embedded processors. CCS
468 is multiplatform software based on
469 Eclipse open source IDE.
471 CCS includes Texas Instruments Code Generation Tools (CGT)
472 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
473 (compiler, linker, etc). Simulink code generation target requires the
474 CGT to be available in the system, and thus, even if no library
475 development will be done or the IDE is not going to be used CCS is
478 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
479 for CGT archiver in \cite{armassemblylanguagetools2012}.
481 \subsubsection{Installation on Linux}
482 \label{sec-installation-on-linux}
483 Download CCS for Linux from:\\
484 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
486 Once downloaded, add executable permission to the installation file
487 and launch the installation by executing it. Installation must be done
488 by the root user in order to install a driver set.
490 \lstset{language=bash}
492 chmod +x ccs_setup_5.5.0.00077.bin
493 sudo ./ccs_setup_5.5.0.00077.bin
496 After installation the application can be executed with:
498 \lstset{language=bash}
500 cd <ccs>/ccsv5/eclipse/
504 The first launch on 64bits systems might fail. This can happen because CCS5 is
505 a 32 bit application and thus requires 32 bit libraries. They can be
508 \lstset{language=bash}
510 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
513 If the application crashes with a segmentation fault edit file:
515 \lstset{language=bash}
517 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
520 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
522 \subsubsection{Installation on Windows}
523 \label{sec-installation-on-windows}
524 Installation for Windows is more straightforward than the installation
525 procedure for Linux. Download CCS for Windows from:\\
526 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
528 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
530 \subsubsection{First launch}
531 \label{sec-first-launch}
532 If no other licence is available, choose ``FREE License -- for use
533 with XDS100 JTAG Emulators'' from the licensing options. Code download
534 for the board uses the XDS100 hardware.
536 \subsection{Matlab/Simulink}
537 \label{sec-matlab-simulink}
538 Matlab Simulink is a set of tools, runtime environment and development
539 environment for Model--Based \cite{modelbasedwiki2013} applications development,
540 simulations and code generation for target platforms. Supported Matlab Simulink
541 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
542 necessary to be able to generate code from Simulink models, containing RPP blocks.
544 \subsection{HalCoGen}
546 HalCoGen (HAL Code Generator) is a tool for graphical configuration of peripherals, clocks, interrupts and other MCU parameters. It generates C code which can be imported to the Code Composer Studio.
548 The tool is available for Windows at
550 \url{http://www.ti.com/tool/halcogen}
553 The HalCoGen has been used in early development stage of the RPP
554 project to generate the base code for some of the peripheral. The
555 trend is to not to use the HalCoGen any more, because the generated
556 code is not reliable enough for safety critical applications. Anyway it is
557 sometimes helpful to use it as a reference.
559 The HalCoGen is distributed for Windows only, but can be run on Linux
560 under Wine (tested with Wine version 1.6.2).
562 \subsection{GtkTerm and Bray Terminal}
563 \label{sec-gtkterm-bray-terminal}
564 Most of the interaction with the board is done through a RS-232 serial
565 connection. The terminal software used for communication is called GtkTerm for
566 Linux and Bray terminal for Windows.
568 To install GtkTerm execute:
570 \lstset{language=bash}
572 sudo apt-get install gtkterm
575 The Bray Terminal does not require any installation and the executable file is
577 \url{https://sites.google.com/site/terminalbpp/}
579 \subsection{C Compiler}
580 \label{sec-c-compiler}
581 A C language compiler has to be available on the development system to be able to
582 compile Matlab Simulink blocks S-functions.
584 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
587 \lstset{language=bash}
589 sudo apt-get install gcc
592 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
593 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
595 \section{Project installation}
596 \label{sec-project-installation}
597 The RPP software is distributed in three packages and a standalone pdf
598 file containing this documentation. Every package is named like
599 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
603 \item[rpp-simulink] Contains the source code of Matlab Simulink
604 blocks, demo models and scripts for downloading the generated
605 firmware to the target board from Matlab/Simulink. Details can be
606 found in Chapter \ref{chap-simulink-coder-target}.
608 The package also contains the binary of the RPP Library and all its
609 headers and other files necessary for building and downloading
611 \item[rpp-test-sw] Contains an application for interactive testing and
612 control of the \tgtBoardName{} board over the serial interface. Details can be
613 found in Chapter~\ref{chap-rpp-test-software}.
615 The package also contains the binary of the RPP Library and all
616 headers and other files necessary for building and downloading the
618 \item[rpp-lib] Contains the source code of the RPP library, described
619 in Chapter \ref{chap-c-support-library}. If you want to make any
620 changes in the drivers or the RPP API, this library has to be
621 compiled and linked with applications in the other two packages.
622 Library compilation is described in Section \ref{sec-compilation}.
625 The following sections describe how to start working with individual
628 \subsection{rpp-simulink}
629 \label{sec-rpp-simulink-installation}
630 This section describes how to install the rpp-simulink project, which
631 is needed to try the demo models or to build your own models that use
635 \item Unzip the \texttt{rpp-simulink-version.zip} file.
636 \item Follow the procedure from Section
637 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
638 Simulink for the RPP project.
639 \item Follow the procedure from Section \ref{sec-crating-new-model}
640 for instructions about creating your own model which will use the
641 RPP Simulink blocks or follow the instructions in
642 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
645 \subsection{rpp-test-sw}
646 \label{sec-test-sw-installation}
647 This section describes how to install and run the application that
648 allows you to interactively control the RPP hardware. This can be
649 useful, for example, to test your modifications of the RPP library.
652 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
653 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
654 \item Import the \texttt{rpp-test-sw} project as described in
655 Section \ref{sec-openning-of-existing-project}.
656 \item Right click on the \texttt{rpp-test-sw} project in the
657 \textsc{Project Explorer} and select \textsc{Build Project}.
658 \item Follow the instructions in
659 Section~\ref{sec-running-software-on-hw} to download, debug and
660 run the software on the target hardware.
664 \label{sec-rpp-lib-installation}
666 This section describes how to open the rpp-lib project in Code
667 Composer Studio and how to use the resulting static library in an
668 application. This is only necessary if you need to modify the library
672 \item Unzip the \texttt{rpp-lib-version.zip} file.
673 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
674 \item Import the rpp-lib project from directory
675 \texttt{rpp-lib-XXX/build/\tgtId} as described in
676 Section~\ref{sec-openning-of-existing-project}.
677 \item Compile the static library by selecting \textsc{Project
678 $\rightarrow$ Build Project} (see Section
679 \ref{sec-compilation} for more information). The compiled
680 library \texttt{rpp-lib.lib} and file
681 \texttt{Makefile.config} will appear in the
682 \texttt{rpp-lib-XXX} directory.
683 \item Either copy the compiled library and the content of the
684 \texttt{rpp/include} directory to the application, where you
685 want to use it or use the library in place, as described in
686 Section~\ref{sec:creating-new-project}.
688 \item In the rpp-simulink application the library is located in
689 the \texttt{rpp/lib} folder.
690 \item In the rpp-test-sw application the library is located in
691 the \texttt{rpp-lib} folder.
695 \section{Code Composer Studio usage}
696 \label{sec-code-composerpstudio-usage}
698 \subsection{Opening an existing project}
699 \label{sec-openning-of-existing-project}
700 The procedure for opening a project is similar to opening a project in
701 the standard Eclipse IDE.
704 \item Launch Code Composer Studio
705 \item Select \textsc{File$\rightarrow$Import}
706 \item In the dialog window select \textsc{Code Composer
707 Studio$\rightarrow$Existing CCS Eclipse project} as an import
708 source (see Figure \ref{fig-import-project}).
709 \item In the next dialog window click on \textsc{Browse} button
710 and find the root directory of the project.
711 \item Select the requested project in the \textsc{Discovered
712 project} section so that the result looks like in Figure
713 \ref{fig-select-project}.
714 \item Click the \textsc{Finish} button.
717 \begin{figure}[H]\begin{center}
718 \includegraphics[width=350px]{images/import_project.png}
719 \caption{Import project dialog}
720 \label{fig-import-project}
721 \end{center}\end{figure}
723 \begin{figure}[H]\begin{center}
724 \includegraphics[width=350px]{images/select_project.png}
725 \caption{Select project dialog}
726 \label{fig-select-project}
727 \end{center}\end{figure}
730 \subsection{Creating new project}
731 \label{sec:creating-new-project}
732 Follow these steps to create an application for \tgname{} MCU compiled with
736 \item Create a new empty CCS project. Select \mcuname{} device, XDS100v2
737 connection and set Linker command file to
738 \texttt{rpp-lib/build/\tgtId/\ldscriptname}.
740 \noindent\includegraphics[scale=0.45]{images/base_1.png}
742 \item In \textsc{Project Explorer}, create normal folders
743 named \texttt{include} and \texttt{src}.
745 \item If you use Git version control system, add \texttt{.gitignore}
746 file with the following content to the root of that project:
755 \item In project \textsc{Properties}, add new variable of type
756 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
760 \noindent\includegraphics[scale=.45]{images/base_2.png}
762 \item Configure the compiler \#include search path to contain
763 project's \texttt{include} directory, \penalty-100
764 \texttt{\$\{RPP\_LIB\_ROOT\}/os/7.0.2/include} and
765 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
767 \includegraphics[scale=.43]{images/base_5.png}
770 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
771 linked libraries before the runtime support library
772 (\texttt{\tgtRtlib}).
774 \noindent\includegraphics[scale=.45]{images/base_3.png}
776 \item Configure the compiler to allow GCC extensions.
778 \noindent\includegraphics[scale=.45]{images/base_6.png}
781 \item Create \texttt{main.c} file with the following content:
782 \begin{lstlisting}[language=C]
788 rpp_sci_printf("Hello world\n");
789 vTaskStartScheduler();
790 return 0; /* not reached */
793 void vApplicationMallocFailedHook()
795 void vApplicationStackOverflowHook()
799 \item Compile the application by e.g. \textsc{Project $\rightarrow$
801 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
802 application will be downloaded to the processor and run. A
803 breakpoint is automatically placed at \texttt{main()} entry. To
804 continue executing the application select \textsc{Run} $\rightarrow$
806 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
807 that the linker script selected in step 1 is not excluded from the build.
808 You can do this by right clicking the \texttt{\ldscriptname} file
809 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
810 item. The Code Composer Studio sometimes automaticaly excludes this file from
811 the build process when creating a new project.
813 % \item If not already created for another project, create new target
814 % configuration. Select \textsc{Windows $\rightarrow$ Show View
815 % $\rightarrow$ Target Configurations}. In the shown window, click
816 % on \textsc{New Target Configuration} icon and configure XDS100v2
817 % connection and \mcuname{} device as shown below. Click \textsc{Save},
818 % connect your board and click \textsc{Test Connection}.
821 % \includegraphics[width=\linewidth]{images/target_conf.png}
824 \item Optionally, you can change debugger configuration by selecting
825 \textsc{Run $\rightarrow$ Debug Configurations}. In the
826 \textsc{Target} tab, you can configure not to break at \texttt{main}
827 or not to erase the whole flash, but necessary sectors only (see the
830 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
835 %% Comment this out for Eaton
836 % \subsubsection{Steps to configure new POSIX application:}
837 % Such an application can be used to test certain FreeRTOS features on
838 % Linux and can be compiled with a native GCC compiler.
840 % \begin{compactenum}
841 % \item Create a new managed C project that uses Linux GCC toolchain.
842 % \item Create a source folder \texttt{src}. Link all files from original
843 % CCS application to this folder.
844 % \item Create a normal folder \texttt{include}. Create a folder
845 % \texttt{rpp} inside of it.
846 % \item Add common \texttt{.gitignore} to the root of that project:
853 % \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
854 % repository branch root.\newline{}
855 % \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
856 % \item Configure compiler to include local includes, CCS application
857 % includes, OS includes for POSIX and RPP includes, in that order.\newline{}
858 % \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
860 % \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
861 % \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
862 % \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
865 \subsubsection{Content of the application}
868 \item Include RPP library header file.
869 \lstset{language=c++}
874 If you want to reduce the size of the final application, you can
875 include only the headers of the needed modules. In that case, you
876 need to include two additional headers: \texttt{base.h} and, in case
877 when SCI is used for printing, \texttt{rpp/sci.h}.
879 #include "rpp/hbr.h" /* We want to use H-bridge */
880 #include <base.h> /* This is the necessary base header file of the rpp library. */
881 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
885 \item Create one or as many FreeRTOS task function definitions as
886 required. Those tasks can use functions from the RPP library. Beware
887 that currently not all RPP functions are
888 reentrant\footnote{Determining which functions are not reentrant and
889 marking them as such (or making them reentrant) is planned as
890 future work.}. \lstset{language=c++}
892 void my_task(void* p)
894 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
895 portTickType last_wake_time = xTaskGetTickCount();
897 /* Wait until next step */
898 vTaskDelayUntil(&last_wake_time, freq_ticks);
899 rpp_sci_printf((const char*)"Hello RPP.\r\n");
904 \item Create the main function that will:
906 \item Initialize the RPP board. If you have included only selected
907 modules in step 1, initialize only those modules by calling their init
909 example \texttt{rpp\_hbr\_init\(\)}.
910 \item Spawn the tasks the application requires. Refer to FreeRTOS API
912 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
914 \item Handle error when the FreeRTOS scheduler cannot be started.
916 \lstset{language=c++}
920 /* In case whole library is included: */
921 /* Initialize RPP board */
923 /* In case only selected modules are included: */
926 /* Initialize sci for printf */
928 /* Enable interrups */
932 if (xTaskCreate(my_task, (const signed char*)"my_task",
933 512, NULL, 0, NULL) != pdPASS) {
935 rpp_sci_printf((const char*)
936 "ERROR: Cannot spawn control task.\r\n"
942 /* Start the FreeRTOS Scheduler */
943 vTaskStartScheduler();
945 /* Catch scheduler start error */
947 rpp_sci_printf((const char*)
948 "ERROR: Problem allocating memory for idle task.\r\n"
956 \item Create hook functions for FreeRTOS:
958 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
960 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
963 \lstset{language=c++}
965 #if configUSE_MALLOC_FAILED_HOOK == 1
967 * FreeRTOS malloc() failed hook.
969 void vApplicationMallocFailedHook(void) {
971 rpp_sci_printf((const char*)
972 "ERROR: manual memory allocation failed.\r\n"
979 #if configCHECK_FOR_STACK_OVERFLOW > 0
981 * FreeRTOS stack overflow hook.
983 void vApplicationStackOverflowHook(xTaskHandle xTask,
984 signed portCHAR *pcTaskName) {
986 rpp_sci_printf((const char*)
987 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
999 \subsection{Downloading and running the software}
1000 \label{sec-running-software-on-hw}
1001 \subsubsection{Code Composer Studio Project}
1002 \label{sec-ccs-run-project}
1003 When an application is distributed as a CCS project, you have to open the
1004 project in the CCS as described in the Section
1005 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
1006 can be easily downloaded to the target hardware with the following procedure:
1009 \ifx\tgtId\tgtIdTMSRPP
1010 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG port.
1011 \item Connect a USB cable to the XDS100v2 USB emulator and the development computer.
1013 \item Connect the USB cable to the \tgtBoardName{} board.
1015 \item Plug in the power supply.
1016 \item In the Code Composer Studio click on the
1017 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
1018 the download process will start. The Code Composer Studio will switch into the debug
1019 perspective, when the download is finished.
1020 \item Run the program by clicking on the \textsc{Run} button, with the
1024 \subsubsection{Binary File}
1025 \label{sec-binary-file}
1026 If the application is distributed as a binary file, without source code and CCS
1027 project files, you can download and run just the binary file by creating a new
1028 empty CCS project and configuring the debug session according to the following
1032 \item In Code Composer Studio click on
1033 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1034 \item In the dialog window, type in a project name, for example
1035 myBinaryLoad, Select \textsc{Device
1036 variant} (ARM, Cortex R, \mcuname, Texas Instruments XDS100v2 USB Emulator)
1037 and select project template to \textsc{Empty Project}. The filled dialog should
1038 look like in Figure~\ref{fig-new-empty-project}
1039 \item Click the \textsc{Finish} button and a new empty project will
1041 \item In the \textsc{Project Explorer} right-click on the project and
1042 select \textsc{Debug as$\rightarrow$Debug configurations}.
1043 \item Click \textsc{New launch configuration} button
1044 \item Rename the New\_configuration to, for example, myConfiguration.
1045 \item Select configuration target file by clicking the \textsc{File
1046 System} button, finding and selecting the \texttt{rpp-lib-XXX/build/\tgtId/\tgconfigfilename} file. The result
1047 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1048 \item In the \textsc{program} pane select the binary file you want to
1049 download to the board. Click on the \textsc{File System} button,
1050 find and select the binary file. Try, for example
1051 \texttt{rpp-test-sw.out}. The result should look like in
1052 Figure~\ref{fig-debug-conf-program-diag}.
1053 \item You may also tune the target configuration as described in
1054 Section \ref{sec-target-configuration}.
1055 \item Finish the configuration by clicking the \textsc{Apply} button
1056 and download the code by clicking the \textsc{Debug} button. You can
1057 later invoke the download also from the
1058 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1059 create more Debug configurations and CCS empty projects as you can
1060 easily change the binary file in the Debug configuration to load a
1061 different binary file.
1064 \begin{figure}[H]\begin{center}
1065 \includegraphics[scale=.45]{images/new_empty_project.png}
1066 \caption{New empty project dialog}
1067 \label{fig-new-empty-project}
1068 \end{center}\end{figure}
1070 \begin{figure}[H]\begin{center}
1071 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1072 \caption{Debug Configuration Main dialog}
1073 \label{fig-debug-conf-main-diag}
1074 \end{center}\end{figure}
1076 \subsection{Target configuration}
1077 \label{sec-target-configuration}
1078 Default target configuration erases the whole Flash memory, before
1079 downloading the code. This takes long time and in most cases it is
1080 not necessary. You may disable this feature by the following procedure:
1082 \item Right click on the project name in the \textsc{Project Browser}
1083 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1084 \item In the dialog window select \textsc{Target} pane.
1085 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1086 \textsc{Necessary sectors only}.
1087 \item Save the configuration by clicking the \textsc{Apply} button
1088 and close the dialog.
1091 \begin{figure}[H]\begin{center}
1092 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1093 \caption{Configuration Program dialog}
1094 \label{fig-debug-conf-program-diag}
1095 \end{center}\end{figure}
1097 \section{Matlab Simulink usage}
1098 \label{sec-matlab-simulink-usage}
1099 This section describes the basics of working with the RPP code
1100 generation target for Simulink. For a more detailed description of the
1101 code generation target refer to
1102 Chapter~\ref{chap-simulink-coder-target}.
1104 \subsection{Configuring Simulink for RPP}
1105 \label{sec-configuration-simulink-for-rpp}
1106 Before any work or experiments with the RPP blocks and models, the RPP
1107 target has to be configured to be able to find the ARM cross-compiler,
1108 native C compiler and some other necessary files. Also the S-Functions
1109 of the blocks have to be compiled by the mex tool.
1111 \item Download and install Code Composer Studio CCS (see
1112 Section~\ref{sec-ti-ccs}).
1113 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1114 \item On Windows you have to tell the \texttt{mex} which C compiler to
1115 use. In the Matlab command window run the \texttt{mex -setup}
1116 command and select the native C compiler.
1118 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1121 Welcome to mex -setup. This utility will help you set up
1122 a default compiler. For a list of supported compilers, see
1123 http://www.mathworks.com/support/compilers/R2013b/win64.html
1125 Please choose your compiler for building MEX-files:
1127 Would you like mex to locate installed compilers [y]/n? y
1130 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1136 Please verify your choices:
1138 Compiler: Microsoft Software Development Kit (SDK) 7.1
1139 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1141 Are these correct [y]/n? y
1143 ***************************************************************************
1144 Warning: MEX-files generated using Microsoft Windows Software Development
1145 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1146 libraries be available on the computer they are run on.
1147 If you plan to redistribute your MEX-files to other MATLAB
1148 users, be sure that they have the run-time libraries.
1149 ***************************************************************************
1152 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1153 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1157 **************************************************************************
1158 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1159 variables with more than 2^32-1 elements. In the near future
1160 you will be required to update your code to utilize the new
1161 API. You can find more information about this at:
1162 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1163 Building with the -largeArrayDims option enables the new API.
1164 **************************************************************************
1167 \item Configure the RPP code generation target:
1169 Open Matlab and in the command window run:
1171 \lstset{language=Matlab}
1173 cd <rpp-simulink>/rpp/rpp/
1177 This will launch the RPP setup script. This script will ask the user to provide
1178 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1179 binary is located), normally:
1182 <ccs>/tools/compiler/arm_5.X.X/
1185 Then Matlab path will be updated and block S-Functions will be built.
1187 \item Create new model or load a demo:
1189 Demos are located in \texttt{\repo/rpp/demos}. Creation of new
1190 models is described in Section~\ref{sec-crating-new-model} below.
1194 \subsection{Working with demo models}
1195 \label{sec-openning-demo-models}
1196 The demo models are available from the directory
1197 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1198 for downloading to the RPP board open them in Matlab. Use either the
1199 GUI or the following commands:
1201 \begin{lstlisting}[language=Matlab]
1202 cd <rpp-simulink>/rpp/demos
1203 open cantransmit.slx
1206 The same procedure can be used to open any other models. To build the
1207 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1208 Model}. This will generate the C code and build the binary firmware
1209 for the RPP board. To run the model on the target hardware see
1210 Section~\ref{sec-running-model-on-hw}.
1212 \subsection{Creating new model}
1213 \label{sec-crating-new-model}
1215 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1216 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1217 \item The new Simulink model needs to be configured in the following way:
1219 \item Solver (Figure \ref{fig-solver}):
1221 \item Solver type: \emph{Fixed-step}
1222 \item Solver: \emph{discrete}
1223 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1225 \item Tasking mode: \textit{SingleTasking}.
1228 \includegraphics[scale=.45]{images/simulink_solver.png}
1229 \caption{Solver settings}
1233 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1234 % \begin{compactitem}
1235 % \item Disable warning ``Source block specifies -1 sampling
1236 % time''. It's ok for the source blocks to run once per tick.
1239 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1240 % \caption{Sample Time settings}
1241 % \label{fig-sample-time-settings}
1244 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1246 \item Set ``System target file'' to \texttt{rpp.tlc}.
1249 \includegraphics[scale=.45]{images/simulink_code.png}
1250 \caption{Code Generation settings}
1251 \label{fig-code-gen-settings}
1255 \item Once the model is configured, you can open the Library Browser
1256 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1257 blocks to create the model. The RPP-specific blocks are located in
1258 the RPP Block Library.
1259 \item From Matlab command window change the current directory to where
1260 you want your generated code to appear, e.g.:
1261 \begin{lstlisting}[language=Matlab]
1264 The code will be generated in a subdirectory named
1265 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1267 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1268 Code $\rightarrow$ Build Model}.
1271 To run the model on the \tgtBoardName{} board continue with Section
1272 \ref{sec-running-model-on-hw}.
1274 \subsection{Running models on the RPP board}
1275 \label{sec-running-model-on-hw}
1276 To run the model on the \tgtBoardName{} hardware you have to enable the download
1277 feature and build the model by following this procedure:
1279 \item Open the model you want to run (see
1280 Section~\ref{sec-openning-demo-models} for example with demo
1282 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1284 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1285 check the \textsc{Download compiled binary to RPP} checkbox. Click
1286 the \textsc{OK} button
1287 \item Connect the target hardware to the computer (see Section
1288 \ref{sec-ccs-run-project}) and build the model by \textsc{Code
1289 $\rightarrow$ C/C++ Code $\rightarrow$ Build Model}. If the build
1290 succeeds, the download process will start automatically and once
1291 the downloading is finished, the application will run immediately.
1294 %%\subsubsection{Using OpenOCD for downloading}
1295 %%\label{sec:using-open-downl}
1297 %%On Linux systems, it is possible to use an alternative download
1298 %%mechanism based on the OpenOCD tool. This results in much shorter
1299 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1300 %%download the compiled binary'' checkbox. For more information about
1301 %%the OpenOCD configuration refer to our
1302 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1304 %%Note: You should close any ongoing Code Composer Studio debug sessions
1305 %%before downloading the generated code to the RPP board. Otherwise the
1308 \section{Configuring serial interface}
1309 \label{sec-configuration-serial-interface}
1310 The main mean for communication with the RPP board is the serial line.
1311 Each application may define its own serial line settings, but the
1312 following settings are the default:
1315 \item Baudrate: 115200
1319 \item Flow control: none
1322 Use GtkTerm on Linux or Bray Terminal on Windows for accessing the
1323 serial interface. On \tgtBoardName{} board, the serial line is tunneled over
1325 % TODO: Conditional compilation
1326 % See Section \ref{sec-hardware-description} for reference about
1327 % the position of the serial interface connector on the RPP board.
1329 \section{Bug reporting}
1330 \label{sec-bug-reporting}
1332 Please report any problems to CTU's bug tracking system at
1333 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1334 to register in the system and notify Michal Sojka about their
1335 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1338 \chapter{C Support Library}
1339 \label{chap-c-support-library}
1341 This chapter describes the implementation of the C support library
1342 (RPP Library), which is used both for Simulink code generation target
1343 and command line testing tool.
1345 \section{Introduction}
1346 \label{sec-description}
1347 The RPP C Support Library (also called RPP library) defines the API for
1348 working with the board. It includes drivers and the operating system.
1350 designed from the board user perspective and exposes a simplified high-level API
1351 to handle the board's peripheral modules in a safe manner. The library is
1352 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1353 \texttt{\repo/rpp/lib}.
1355 The RPP library can be used in any project, where the RPP hardware
1356 support is required and it is also used in two applications --
1357 Simulink Coder Target, described in Chapter
1358 \ref{chap-simulink-coder-target}, and the command line testing tool,
1359 described in Chapter \ref{chap-rpp-test-software}.
1361 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1363 \section{API development guidelines}
1364 \label{sec-api-development-guidlines}
1366 The following are the development guidelines used for developing the RPP API:
1369 \item User documentation should be placed in header files, not in source
1370 code, and should be Doxygen formatted using autobrief. Documentation for each
1371 function present is mandatory.
1372 \item Function declarations in the headers files is for public functions
1373 only. Do not declare local/static/private functions in the header.
1374 \item Documentation in source code files should be non-doxygen formatted
1375 and intended for developers, not users. Documentation here is optional and at
1376 the discretion of the developer.
1377 \item Always use standard data types for IO when possible. Use custom
1378 structs as very last resort. \item Use prefix based functions names to avoid
1379 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1380 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1382 \item Be very careful about symbol export. Because it is used as a
1383 static library the modules should not export any symbol that is not intended to
1384 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1385 of thumb declare all global variables as static.
1386 \item Only the RPP Layer symbols are available to user applications. All
1387 information related to lower layers is hidden for the application. This is
1388 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1389 implementations files only and never on the interface files. Never expose any
1390 other layer to the application or to the whole system below the RPP layer. In
1391 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1395 \section{Coding style}
1396 \label{sec-coding-style}
1397 In order to keep the code as clean as possible, unified coding style
1398 should be followed by any contributor to the code. The used coding
1399 style is based on the default configuration of Code Composer Studio
1400 editor. Most notable rule is that the Tab character is 4 spaces.
1402 The RPP library project is prepared for use of a tool named
1403 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1404 that do not match the coding style. However, keep in mind that the
1405 program is not perfect and sometimes it can modify code where the
1406 suggested coding style has been followed. This does not causes
1407 problems as long as the contributor follows the committing procedure
1408 described in next paragraph.
1410 When contributing to the code, the contributor should learn the
1411 current coding style from existing code. When a new feature is
1412 implemented and committed to the local repository, the following
1413 commands should be called in Linux terminal:
1415 \begin{lstlisting}[language=bash]
1419 The first line command corrects many found coding style violations and
1420 the second command displays them. If the user agree with the
1421 modification, he/she should amend the last commit, for example by:
1422 \begin{lstlisting}[language=bash]
1427 \section{Subdirectory content description}
1428 \label{sec-rpp-lib-subdirectory-content-description}
1430 The following files and directories are present in the library source
1434 \item[rpp-lib.lib] Compiled RPP library.
1436 The library is needed for Simulink models and other ARM/\tgname{}
1437 applications. It is placed here by the Makefile, when the library is
1440 \item[apps/] Various applications related to the RPP library.
1442 This include the CCS studio project for generating of the static
1443 library and a test suite. The test suit in this directory has
1444 nothing common with the test suite described later in
1445 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1446 to be merged in the future. Also other Hello World applications are
1447 included as a reference about how to create an \tgname{}
1449 \item[build] The library can be compiled for multiple targets. Each
1450 supported target has a subdirectory here, which stores configuration
1451 of how to compile the library and applications for different target.
1452 Each subdirectory contains a CCS project and Makefiles to build the
1453 library for the particular target.
1454 \item[build/$\langle$target$\rangle$/Makefile.config] Configuration
1455 for the particular target. This includes compiler and linker
1457 \item[build/$\langle$target$\rangle$/*.cmd]
1458 CGT Linker command file.
1460 This file is used by all applications that need to tun on the RPP
1461 board, including the Simulink models and test suite. It includes
1462 instructions for the CGT Linker about target memory layout and where
1463 to place various code sections.
1464 \item[os/] OS layers directory. See
1465 Section~\ref{sec-operating-system-layer} for more information about
1466 currently available operating system versions and
1467 Section~\ref{sec-changing-os} for information how to replace the
1469 \item[rpp/] Main directory for the RPP library.
1470 \item[rpp/doc/] RPP Library API
1472 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1473 implementations files for given \texttt{\{layer\}}. See
1474 Section~\ref{sec-software-architecture} for details on the RPP
1476 \item[rpp/include/rpp/rpp.h] Main library header file.
1478 To use this library with all its modules, just include this file
1479 only. Also, before using any library function call the
1480 \texttt{rpp\_init()} function for hardware initialization.
1481 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1482 \texttt{\{mnemonic\}} module.
1484 These files includes function definitions, pin definitions, etc,
1485 specific to \{mnemonic\} module. See also
1486 Section~\ref{sec-api-development-guidlines}.
1488 If you want to use only a subset of library functions and make the
1489 resulting binary smaller, you may include only selected
1490 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1491 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1492 \texttt{rpp.h} and \texttt{rpp\_init} function.
1493 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1495 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1496 top of the DRV library.
1497 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1500 \section{Compilation}
1501 \label{sec-compilation}
1503 To compile the library open the Code Composer studio project
1504 \texttt{rpp-lib} from appropriate \texttt{build/<target>} directory
1505 (see Section~\ref{sec-openning-of-existing-project}) and build the
1506 project (\textsc{Project $\rightarrow$ Build Project}). If the build
1507 process is successful, the \texttt{rpp-lib.lib} and
1508 \texttt{Makefile.config} files will appear in the library root
1511 It is also possible to compile the library using the included
1512 \texttt{Makefile}. From the Linux command line run:
1513 \begin{lstlisting}[language=bash]
1514 cd <library-root>/build/<target>/Debug #or Release
1517 Note that this only works if Code Composer Studio is installed in
1518 \texttt{/opt/ti} directory. Otherwise, you have to set
1519 \texttt{CCS\_UTILS\_DIR} variable.
1521 On Windows command line run:
1522 \begin{lstlisting}[language=bash]
1523 cd <library-root>\build\<target>\Debug
1524 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1525 C:\ti\ccsv5\utils\bin\gmake.exe lib
1528 You have to use \texttt{gmake.exe} instead of \texttt{make} and it is
1529 necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You can
1530 also edit \texttt{\repo/build/Makefile.rules.arm} and set the variable
1533 Note that the Makefile still requires the Code Composer Studio (ARM
1534 compiler) to be installed because of the CGT.
1536 \section{Compiling applications using the RPP library}
1537 \label{sec:comp-appl-using}
1539 The relevant aspects for compiling and linking an application using
1540 the RPP library are summarized below.
1542 % \subsection{ARM target (RPP board)}
1543 % \label{sec:arm-target-rpp}
1545 The detailed instructions are presented in
1546 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1550 \item Configure include search path to contain the directory of
1551 used FreeRTOS version, e.g.
1552 \texttt{\repo/os/7.0.2/include}. See Section
1553 \ref{sec-software-architecture}.
1554 \item Include \texttt{rpp/rpp.h} header file or just the needed
1555 peripheral specific header files such as \texttt{rpp/can.h}.
1556 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1557 The RPP library must be placed before Texas Instruments
1558 support library \tgtRtlib.
1559 \item Use the provided linker command file
1560 \texttt{\ldscriptname}.
1563 % \subsection{POSIX target}
1564 % \label{sec:posix-target}
1566 % \begin{compactitem}
1567 % \item Include headers files of the OS for Simulation. At the time
1568 % of this writing the OS is POSIX FreeRTOS 6.0.4.
1569 % \item Include header files for the RPP library or for modules you
1570 % want to use (rpp\_can.h for CAN module for example).
1571 % \item Add library \texttt{librpp.a} to the linker libraries.
1572 % \item Add \texttt{pthread} to the linker libraries.
1575 \section{Compiling API documentation}
1576 \label{sec-compiling-api-documentation}
1577 The documentation of the RPP layer is formatted using Doxygen
1578 documentation generator. This allows to generate a high quality API
1579 reference. To generate the API reference run in a Linux terminal:
1581 \lstset{language=bash}
1583 cd <repo>/rpp/doc/api
1585 xdg-open html/index.html
1588 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1589 reference generation are their name is self-explanatory:
1599 \section{Changing operating system}
1600 \label{sec-changing-os}
1601 The C Support Library contains by default the FreeRTOS operating
1602 system in version 7.0.2. This section describes what is necessary to
1603 change in the library and other packages in order to replace the
1606 \subsection{Operating system code and API}
1608 The source and header files of the current operating system (OS) are
1609 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1610 operating system should also be placed in this directory.
1612 To make the methods and resources of the new OS available to the C Support
1613 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1614 the operating system header files.
1616 Current implementation for FreeRTOS includes a header file
1617 \texttt{\repo/rpp/lib/os/\-7.0.2\-include/os.h}, which
1618 contains all necessary declarations and definitions for the FreeRTOS.
1619 We suggest to provide a similar header file for your operating system as
1622 In order to compile another operating system into the library, it is
1623 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1624 contains a list of files that are compiled into the library. All lines
1625 starting with \texttt{os/} should be updated.
1627 \subsection{Device drivers}
1628 Drivers for SCI and ADC depend on the FreeRTOS features. These
1629 features need to be replaced by equivalent features of the new
1630 operating system. Those files should be modified:
1632 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1633 structure, referring to FreeRTOS queue and semaphore.
1634 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1636 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1637 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1638 suggest replacing this with OS independent type, e.g. number of
1639 milliseconds to wait, with $-1$ meaning infinite waiting time.
1640 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1641 specific features: semaphores, queues, data types
1642 (\texttt{portBASE\_TYPE}) and
1643 critical sections (\texttt{taskENTER\_CRITICAL} and
1644 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1645 task preemption is disabled. The same should be ensured by the other
1646 operating system or the driver should be rewritten to use other
1647 synchronization primitives.
1648 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1651 \subsection{System start}
1652 The initialization of the MCU and the system is in the
1653 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1654 operating system needs to handle interrupts generated by the Real-Time
1655 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1656 \texttt{vPreemptiveTick} has to be replaced.
1658 \subsection{Simulink template for main function}
1660 When the operating system in the library is replaced, the users of the
1661 library must be changed as well. In case of Simulink code generation
1662 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1663 template for generation of the \texttt{ert\_main.c} file, containing
1664 the main function, has to be modified to use proper functions for task
1665 creation, task timing and semaphores. The template is stored in
1666 \texttt{\repo/rpp/rpp/rpp\_srmain.tlc} file.
1668 \chapter{Simulink Coder Target}
1669 \label{chap-simulink-coder-target}
1671 The Simulink Coder Target allows to convert Simulink models to C code,
1672 compile it and download to the board.
1674 \section{Introduction}
1675 \label{sec-introduction}
1677 The Simulink RPP Target provides support for C source code generation from Simulink models and
1678 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1679 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1680 Code Composer Studio, and thus it depends on it for proper functioning.
1682 This target also provides support for automatic download of the compiled binary to the RPP
1685 \begin{figure}\begin{center}
1687 \includegraphics[scale=.45]{images/tlc_process.png}
1688 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1689 \end{center}\end{figure}
1691 \section{Features and limitations}
1692 \label{sec-features}
1695 \item Sampling frequencies up to 1\,kHz.
1696 \item Multi-rate models are executed in a single thread in
1697 non-preemptive manner. Support for multi-threaded execution will be
1698 available in the final version and will require careful audit of the
1699 RPP library with respect to thread-safe code.
1700 \item No External mode support yet. We work on it.
1701 \item Custom compiler options, available via OPTS variable in
1702 \emph{Make command} at \emph{Code Generation} tab (see Figure
1703 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1707 \section{RPP Options pane}
1708 \label{sec-rpp-target-options}
1710 The RPP Target includes the following configuration options, all of them
1711 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1712 \textsc{RPP Options}:
1715 \item \textbf{C system stack size}: this parameter is passed directly
1716 to the linker for the allocation of the stack. Note that this stack
1717 is used only for initializing the application and FreeRTOS. Once
1718 everything is initialized, another stack is used by the generated
1719 code. See below. Default value is 4096.
1721 \item \textbf{C system heap size}:
1722 \label{sec-rpp-target-options-heap-size} this parameter is passed
1723 directly to the linker for the allocation of the heap. Currently,
1724 the heap is not used, but will be used by the external mode in the future.
1725 Note that FreeRTOS uses its own heap whose size is independent of this
1727 \item \textbf{Model step task stack size}: this parameter will be
1728 passed to the \texttt{xTaskCreate()} that
1729 creates the task for the model to run. In a Simulink model there are always two tasks:
1731 \item The worker task. This task is the one that executes the model
1732 step. This task requires enough stack memory to execute the step.
1733 If your model does not run, it might be caused by too small stack.
1734 The memory needed for the stack depends on the size and structure
1736 \item The control task. This task controls when the worker task should execute and controls overruns.
1739 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1740 the board after the model is successfully built. Note that this option is unaware of the option
1741 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1742 only source code has been generated, failing graciously or uploading an old binary laying around
1743 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1744 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1745 script can be found in:
1747 <ccs>/ccs_base/scripting/examples/loadti/readme.txt
1748 http://processors.wiki.ti.com/index.php/Loadti
1751 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1752 download of the generated program, leaving the loaded program running.
1754 The \texttt{loadopenocd.sh} script will close after the download of the
1755 generated program as well, but the program will be stopped. In order to run
1756 the loaded program a manual reset of the board is required.
1758 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1759 implemented for the simulink target.
1761 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1762 implemented for the \mcuname{} simulink target.
1763 % TODO Not true - use conditional compilation here.
1765 \item \textbf{Print model metadata to SCI at start}: if set this option will
1766 print a message to the Serial Communication Interface when the model start
1767 execution on the board. This is very helpful to identify the model running on
1768 the board. The message is in the form:
1771 `model_name' - generated_date (TLC tlc_version)
1776 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1780 \section{Subdirectory content description}
1781 \label{sec-simulink-subdirectory-content-description}
1782 This section describes the directories of the Simulink Coder. If you are
1783 interested in particular file, refer the description at the beginning of the
1787 \item[doc/] Contains the sources of the documentation, you are now
1789 \item[refs/] Contains third party references, which license allows the
1791 \item[rpp/blocks] Contains the Simulink blocks specific to the
1792 \tgtBoardName{} board and their sources (.c and .tlc files). When an
1793 user calls \texttt{rpp\_setup.m}, these files are processed and
1794 Simulink block library \texttt{rpp\_lib.slx} is created.
1795 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1796 Matlab Simulink model.
1797 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1798 reference for the usage and for testing.
1799 \item[rpp/lib] Contains the C Support Library. See Chapter
1800 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1801 for Linux support of the OpenOCD, for code downloading to the target.
1802 \item[rpp/loadti] Contains download scripts for Linux and Windows
1803 support for code downloading to the target, using Texas Instruments CCS code
1805 \item[rpp/rpp] Contains set of support script for the Code Generator.
1808 \section{Block Library Overview}
1809 \label{sec-block-library-overview}
1810 The Simulink Block Library is a set of blocks that allows Simulink models to use
1811 board IO and communication peripherals. The available blocks are summarized in
1812 Table~\ref{tab:block-lib-status} and more detailed description is
1813 given in Section~\ref{sec-blocks-description}.
1816 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1818 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1820 \input{block_table.tex}
1822 \end{tabular}\end{center}
1824 \caption{Block library overview}
1825 \label{tab:block-lib-status}
1828 \label{sec-blocks-implementation}
1829 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1830 approach taken is briefly explained.
1832 \subsection{C MEX S-Functions}
1833 \label{sec-c-mex-functions}
1835 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1836 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1837 \item S-Function: System Function, as opposed to standard functions, or user functions.
1840 A C MEX S-Function is a structured C file that implements some mandatory and
1841 optional callbacks for a specification of a number of inputs, outputs, data
1842 types, parameters, rate, validity checking, etc. A complete list of callbacks
1845 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1848 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1849 diagram \ref{fig-sfunctions-process}:
1851 \begin{figure}[H]\begin{center}
1853 \includegraphics[scale=.45]{images/sfunctions_process.png}
1854 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1855 \label{fig-sfunctions-process}
1856 \end{center}\end{figure}
1858 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1859 the RPP blocks are for hardware peripherals control and IO the blocks are
1860 implemented as pure sink or pure source, the S-Function is just a descriptor of
1861 the block and does not perform any calculation and does not provide any input or
1862 output for simulations.
1864 The implementation of the S-Functions in the RPP project has following layout:
1867 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1868 \item Include header file \texttt{header.c}, which in connection with
1869 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1870 \item In \texttt{mdlInitializeSizes} define:
1872 \item Number of \textit{dialog} parameter.
1873 \item Number of input ports.
1875 \item Data type of each input port.
1877 \item Number of output ports.
1879 \item Data type of each output port.
1881 \item Standard options for driver blocks.
1883 \item In \texttt{mdlCheckParameters}:
1885 \item Check data type of each parameter.
1886 \item Check range, if applicable, of each parameter.
1888 \item In \texttt{mdlSetWorkWidths}:
1890 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1892 \item Data type of each \textit{runtime} parameter.
1895 \item Define symbols for unused functions.
1896 \item Include trailer file \texttt{trailer.c}.
1899 The C MEX S-Function implemented can be compiled with the following command:
1901 \lstset{language=bash}
1903 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1906 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1907 and use lower case mnemonic of the block.
1909 Also a script called \texttt{compile\_blocks.m} is included. The script that
1910 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1911 all S-Functions are compiled at once. To use this script, in Matlab do:
1913 \lstset{language=Matlab}
1915 cd <repo>/rpp/blocks/
1919 \subsection{Target Language Compiler files}
1920 \label{sec-target-language-compiler-files}
1922 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1923 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1924 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1925 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1928 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1929 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1930 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
1932 The TLC files implemented for this project use 3 hook functions in particular (other are available,
1933 see TLC reference documentation):
1935 \item \texttt{BlockTypeSetup}: \newline{}
1936 BlockTypeSetup executes once per block type before code generation begins.
1937 This function can be used to include elements required by this block type, like includes or
1939 \item \texttt{Start}: \newline{}
1940 Code here will be placed in the \texttt{void
1941 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
1943 \item \texttt{Outputs}: \newline{}
1944 Code here will be placed in the \texttt{void
1945 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
1946 inputs of a block and/or to set the outputs of that block.
1949 The general layout of the TLC files implemented for this project is:
1951 \item In \texttt{BlockTypeSetup}: \newline{}
1952 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
1953 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
1954 \item \texttt{Start}: \newline{}
1955 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
1956 DAC value initialization, SCI baud rate setup, among others.
1957 \item \texttt{Outputs}: \newline{}
1958 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
1959 is checked and in case of failure error is reported to the block using ErrFlag.
1962 C code generated from a Simulink model is placed on a file called
1963 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
1964 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
1965 For example, the source code generated for model \texttt{foobar} will be placed
1966 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
1968 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
1970 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
1971 This function recalculates all the outputs of the blocks and should be called once per step. This
1972 is the main working function.
1973 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
1974 This function is called only once before the first step is issued. Default values for blocks IOs
1975 should be placed here.
1976 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
1977 This function is called when terminating the model. This should be used to free memory or revert
1978 other operations made in the initialization function. With current implementation this function
1979 should never be called unless an error is detected and in most models it is empty.
1982 \section{Block reference}
1983 \label{sec-blocks-description}
1985 This section describes each one of the Simulink blocks present in the Simulink
1986 RPP block library, shown in Figure \ref{fig-block-library}.
1990 \includegraphics[width=\textwidth]{images/block_library.png}
1992 \caption{Simulink RPP Block Library.}
1993 \label{fig-block-library}
1996 \input{block_desc.tex}
1998 \section{Compilation}
1999 \label{sec-simulink-compilation}
2000 The first step, before any attempt to compile demo or other models, is to compile the S-Functions of the RPP blocks. The S-Functions are compiled during the Configuring Simulink for RPP, described in Section \ref{sec-configuration-simulink-for-rpp}. If you want to recompile the S-Functions without reconfiguring the Simulink, open the Matlab and run those commands in the Matlab commad line:
2001 \lstset{language=Matlab}
2003 cd <rpp-simulink>/rpp/blocks
2007 Once the S-Functions are compiled, the C code can be generated from the models. Demos can be compiled one by one with a procedure described in Section \ref{sec-openning-demo-models} or all at once with one of those procedures:
2010 \item Open Matlab and run those commands in the Matlab command line:
2011 \lstset{language=Matlab}
2013 cd <rpp-simulink>/rpp/demos
2016 \item Run those commands in a Linux terminal:
2017 \begin{lstlisting}[language=bash]
2018 cd <rpp-simulink>/rpp/demos
2022 or Windows command line:
2024 \begin{lstlisting}[language=bash]
2025 cd <rpp-simulink>\rpp\demos
2026 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2029 Both commands will create a directory for each compiled demo, which will contain the generated C code and binary file with the firmware. To download the firmware to the board and run it, see Section \ref{sec-running-software-on-hw}.
2032 \section{Adding new functionality}
2033 \label{sec:adding-new-funct}
2034 This section describes how to create new Simulink blocks and how to add them to the RPP
2035 blocks library. The new block creation process consists of several steps:
2037 \item Addition of the new functionality to the RPP C support library.
2038 \item Definition of the block interface as a C MEX S-Function
2039 (Section~\ref{sec:block-definition-c})
2040 \item Compilation of the block definition to MEX file
2041 (Section~\ref{sec:c-mex-file})
2042 \item Creation of the code generator template (TLC) file
2043 (Section~\ref{sec:tlc-file-creation}).
2044 \item Creation of an S-Function block in the RPP block library
2045 and ``connecting'' this block with the C MEX and TLC files
2046 (Section~\ref{sec:creation-an-s})
2047 \item Optional: Creation of the mask for the new block. The mask
2048 specifies graphical representation of the block as well as
2049 the content of the block parameters dialog box.
2051 The following subsections demonstrate the procedure on an example of a simple user defined block.
2053 \subsection{Block interface definition in a C MEX S-function}
2054 \label{sec:block-definition-c}
2055 In order to use a custom block in the Simulink model, Simulink must know
2056 a certain number of block attributes, such as the number and type of
2057 block inputs, outputs and parameters. These attributes are specified
2058 by a set of functions in a C file. This C file gets compiled by the MEX
2059 compiler into a MEX file and is then used in an S-Function block.
2060 Simulink calls the functions in the C MEX file to obtain the above
2061 mentioned block attributes. In case of RPP blocks, no other
2062 functionality is present in the C MEX file.
2064 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2065 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2066 the C files as a reference.
2068 Every C file that will be used with the RPP library should begin with
2069 a comment in YAML\footnote{\url{http://yaml.org/},
2070 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2071 this block is used to automatically generate both printed and on-line
2072 documentation. Although this block is not mandatory, it is highly
2073 recommended, as it helps keeping the documentation consistent and
2076 The YAML documentation block may look like this:
2077 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2081 Name: Name Of The Block
2087 - { name: "Some Input Signal", type: "bool" }
2090 - { name: "Some Output Signal", type: "bool" }
2094 # Description and Help is in Markdown mark-up
2097 This is a stub of an example block.
2101 This block is a part of an example about how to create
2102 new Matlab Simulink blocks for RPP board.
2106 RPP API functions used:
2114 Following parts are obligatory and the block will not work without them. It starts with a
2115 definition of the block name and inclusion of a common source file:
2117 \begin{lstlisting}[language=c]
2118 #define S_FUNCTION_NAME sfunction_myblock
2122 To let Simulink know the type of the inputs, outputs and how many parameters
2123 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2125 \begin{lstlisting}[language=c]
2126 static void mdlInitializeSizes(SimStruct *S)
2128 /* The block will have no parameters. */
2129 if (!rppSetNumParams(S, 0)) {
2132 /* The block will have one input signal. */
2133 if (!ssSetNumInputPorts(S, 1)) {
2136 /* The input signal will be of type boolean */
2137 rppAddInputPort(S, 0, SS_BOOLEAN);
2138 /* The block will have one output signal */
2139 if (!ssSetNumOutputPorts(S, 1)) {
2142 /* The output signal will be of type boolean */
2143 rppAddOutputPort(S, 0, SS_BOOLEAN);
2145 rppSetStandardOptions(S);
2149 The C file may contain several other optional functions definitions for parameters check,
2150 run-time parameters definition and so on. For information about those functions refer the comments
2151 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2153 The minimal C file compilable into C MEX has to contain following
2154 macros to avoid linker error messages about some of the optional
2155 functions not being defined:
2156 \begin{lstlisting}[language=c]
2157 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2158 #define UNUSED_MDLCHECKPARAMETERS
2159 #define UNUSED_MDLOUTPUTS
2160 #define UNUSED_MDLTERMINATE
2163 Every C file should end by inclusion of a common trailer source file:
2165 \begin{lstlisting}[language=c]
2166 #include "trailer.c"
2169 \subsection{C MEX file compilation}
2170 \label{sec:c-mex-file}
2171 In order to compile the created C file, the development environment
2172 has to be configured first as described in
2173 Section~\ref{sec-matlab-simulink-usage}.
2175 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2176 into C MEX by running script
2177 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2178 prompt. If your block requires some special compiler options, edit the
2179 script and add a branch for your block.
2181 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2182 from Matlab command prompt.
2184 \subsection{TLC file creation}
2185 \label{sec:tlc-file-creation}
2186 The TLC file is a template used by the code generator to generate the
2187 C code for the RPP board. The TLC files are stored in
2188 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2189 same (except for the extension) as the names of the corresponding
2190 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2191 free to open any of the TLC files as a reference.
2193 TLC files for RPP blocks should contain a header:
2194 \begin{lstlisting}[language=c]
2195 %implements sfunction_myblock "C"
2196 %include "common.tlc"
2199 Code Generator expects several functions to be implemented in the TLC file. The functions are not obligatory, but most of the blocks will probably need them:
2201 \item BlockTypeSetup
2202 \item BlockInstanceSetup
2207 For detailed description about each one of those functions, refer to
2208 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2209 some code may look like this:
2210 \begin{lstlisting}[language=c]
2211 %implements sfunction_myblock "C"
2212 %include "common.tlc"
2214 %function BlockTypeSetup(block, system) void
2215 %% Ensure required header files are included
2216 %<RppCommonBlockTypeSetup(block, system)>
2217 %<LibAddToCommonIncludes("rpp/sci.h")>
2220 %function Outputs(block, system) Output
2221 %if !SLibCodeGenForSim()
2222 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2223 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2225 %<out_signal> = !%<in_signal>;
2226 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2232 The above template causes the generated code to contain
2233 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2234 executed, its output will be the negation of its input and the value
2235 of the input signal will be printed to the serial line.
2237 \subsection{Creation of an S-Function block in the RPP block library}
2238 \label{sec:creation-an-s}
2239 User defined Simulink blocks can be included in the model as
2240 S-Function blocks. Follow this procedure to create a new block in the
2243 \item Create a new Simulink library by selecting
2244 \textsc{File$\rightarrow$New$\rightarrow$Library} and save it as
2245 \texttt{\repo\-/rpp/blocks/rpp\_$\langle$name$\rangle$.slx}.
2246 Alternatively, open an existing library.
2247 \item In case of opening an existing library, unlock it for editing by
2248 choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2249 \item Open a Simulink Library Browser
2250 (\textsc{View$\rightarrow$Library Browser}) open
2251 \textsc{Simulink$\rightarrow$User-Defined Functions} and drag the
2252 \textsc{S-Function} block into the newly created library.
2253 \item Double click on the just created \textsc{S-Function} block and
2254 fill in the \textsc{S-function name} field. Put there the name
2255 (without the extension) of the created C MEX S-Function, e.g.
2256 sfunction\_myblock. The result should like like in
2257 Figure~\ref{fig-simulink_s_fun_cfg}.
2258 \begin{figure}[h]\begin{center}
2260 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2261 \caption{Configuration dialog for user defined S-function.}
2262 \label{fig-simulink_s_fun_cfg}
2263 \end{center}\end{figure}
2264 \item If your block has some parameters, write their names (you can
2265 choose them arbitrarily) in the \textsc{S-function parameters}
2266 field, separated by commas. \label{item:1}
2267 \item Now you should see the new Simulink block with the right number
2268 of inputs and outputs.
2269 \item Optional: Every user-defined block can have a \emph{mask}, which
2270 provides some useful information about the name of the block,
2271 configuration dialog for parameters and names of the IO signals. The
2272 block can be used even without the mask, but it is not as user
2273 friendly as with proper mask. Right-click the block and select
2274 \textsc{Mask$\rightarrow$Create Mask...}. In the definition of
2275 parameters, use the same names as in step~\ref{item:1}. See
2276 \cite[Section ``Block Masks'']{mathworks13:simul_2013b} for more
2278 \item Save the library and run \texttt{rpp\_setup} (or just
2279 \texttt{rpp\_generate\_lib}) from Matlab command line to add the newly
2280 created block to RPP block library (\texttt{rpp\_lib.slx}).
2283 Now, you can start using the new block in Simulink models as described
2284 in Section~\ref{sec-crating-new-model}.
2287 \section{Demos reference}
2288 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2289 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2291 This demos library is used as a test suite for the Simulink RPP Block Library
2292 but they are also intended to show basic programs built using it. Because of
2293 this, the demos try to use more than one
2294 type of block and more than one block per block type.
2296 In the reference below you can find a complete description for each of the demos.
2298 \subsection{ADC demo}
2299 \begin{figure}[H]\begin{center}
2301 \includegraphics[scale=.45]{images/demo_adc.png}
2302 \caption{Example of the usage of the Analog Input blocks for RPP.}
2303 \end{center}\end{figure}
2305 \textbf{Description:}
2307 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2308 measures voltage on every available Analog Input and prints the values on the
2311 \subsection{Simple CAN demo}
2312 \begin{figure}[H]\begin{center}
2314 \includegraphics[scale=.45]{images/demo_simple_can.png}
2315 \caption{The simplest CAN demonstration.}
2316 \end{center}\end{figure}
2318 \textbf{Description:}
2320 The simplest possible usage of the CAN bus. This demo is above all designed for
2321 testing the CAN configuration and transmission.
2323 \subsection{CAN transmit}
2324 \begin{figure}[H]\begin{center}
2326 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2327 \caption{Example of the usage of the CAN blocks for RPP.}
2328 \end{center}\end{figure}
2330 \textbf{Description:}
2332 Demostrates how to use CAN Transmit blocks in order to:
2335 \item Send unpacked data with data type uint8, uint16 and uint32.
2336 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2337 \item Send a message as extended frame type to be received by CAN Receive
2338 configured to receive both, standard and extended frame types.
2341 Demostrates how to use CAN Receive blocks in order to:
2344 \item Receive unpacked data of data types uint8, uint16 and uint32.
2345 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2346 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2347 \item Use function-call mechanism to process received messages
2350 \subsection{Continuous time demo}
2351 \begin{figure}[H]\begin{center}
2353 \includegraphics[scale=.45]{images/demo_continuous.png}
2354 \caption{The demonstration of contiuous time.}
2355 \end{center}\end{figure}
2357 \textbf{Description:}
2359 This demo contains two integrators, which are running at continuous time. The main goal
2360 of this demo is to verify that the generated code is compilable and is working even when
2361 discrete and continuous time blocks are combined together.
2363 \subsection{Simulink Demo model}
2364 \begin{figure}[H]\begin{center}
2366 \includegraphics[scale=.45]{images/demo_board.png}
2367 \caption{Model of the complex demonstration of the boards peripherals.}
2368 \end{center}\end{figure}
2370 \textbf{Description:}
2372 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2373 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2374 rotates the light around the MCU in one direction. Every time the user presses the button
2375 on the HDK, the direction is switched.
2377 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2378 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2379 and the message 0xFFFFFFFF simulates the button press.
2381 Information about the state of the application are printed on the Serial Interface.
2383 \subsection{Echo char}
2384 \begin{figure}[H]\begin{center}
2386 \includegraphics[scale=.45]{images/demo_echo_char.png}
2387 \caption{Echo Character Simulink demo for RPP.}
2388 \end{center}\end{figure}
2390 \textbf{Description:}
2392 This demo will echo (print back) any character received through the Serial Communication
2393 Interface (115200-8-N-1).
2395 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2396 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2398 \subsection{GIO demo}
2399 \begin{figure}[H]\begin{center}
2401 \includegraphics[scale=.45]{images/demo_gio.png}
2402 \caption{Demonstration of DIN and DOUT blocks}
2403 \end{center}\end{figure}
2405 \textbf{Description:}
2407 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2408 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2409 on the Serial Interface with the same period.
2411 \subsection{Hello world}
2412 \begin{figure}[H]\begin{center}
2414 \includegraphics[scale=.45]{images/demo_hello_world.png}
2415 \caption{Hello World Simulink demo for RPP.}
2416 \end{center}\end{figure}
2418 \textbf{Description:}
2420 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2421 character per second. The output speed is driven by the Simulink model step which is set to one
2424 \subsection{Multi-rate single thread demo}
2425 \label{sec:mult-single-thre}
2427 \begin{figure}[H]\begin{center}
2429 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2430 \caption{Multi-rate singlet hread Simulink demo for RPP.}
2431 \end{center}\end{figure}
2433 \textbf{Description:}
2435 This demo will toggle LEDs on the Hercules Development Kit with
2436 different rate. This is implemented with multiple Simulink tasks, each
2437 running at different rate. In the generated code, these tasks are
2438 called from a singe thread and therefore no task can preempt another
2441 The state of each LED is printed to the Serial Communication Interface
2442 (115200-8-N-1) when toggled.
2445 \begin{tabular}{lll}
2446 \rowcolor[gray]{0.9}
2447 LED & pin & rate [s] \\
2448 1 & NHET1\_25 & 0.3 \\
2449 2 & NHET1\_05 & 0.5 \\
2450 3 & NHET1\_00 & 1.0 \\
2452 \captionof{table}{LEDs connection and rate}
2453 \label{tab:multirate_st_led_desc}
2457 \chapter{Command line testing tool}
2458 \label{chap-rpp-test-software}
2459 \section{Introduction}
2460 \label{sec-rpp-test-sw-intro}
2461 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2462 control of the RPP hardware. The test suite implements a command processor,
2463 which is listening for commands and prints some output related to the commands
2464 on the serial interface. The command processor is modular and each peripheral
2465 has its commands in a separate module.
2467 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2468 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2470 The application enables a command processor using the SCI at
2471 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2472 and prompt should look like:
2475 \ifx\tgtId\tgtIdTMSRPP
2477 Rapid Prototyping Platform v00.01-001
2478 Test Software version v0.2-261-gb6361ca
2484 Ti HDK \mcuname, FreeRTOS 7.0.2
2485 Test Software version eaton-0.1-beta-8-g91419f5
2486 CTU in Prague 10/2014
2491 Type in command help for a complete list of available command, or help command
2492 for a description of concrete command.
2494 \section{Compilation}
2495 \label{sec-rpp-test-sw-compilation}
2496 Before the Testing tool can be compiled, the RPP Library has to be built and the binary file \texttt{rpp-lib.lib} has to be present in the \texttt{\repo/rpp-lib/} directory. Once this requirement is fulfilled, there are two ways how to compile the Testing tool.
2498 \item Using a Code Composer Studio, which is described in Section \ref{sec-project-installation}. The procedure of downloading the firmware right from the CCS and running it on the hardware is described in Section \ref{sec-running-software-on-hw}.
2499 \item Using a make from a Linux terminal or gmake from a Windows command line. The procedure of how to download and run the binary on the hardware is described in Section \ref{sec-binary-file}.
2501 To build the Testing tool from Linux terminal run:
2502 \begin{lstlisting}[language=bash]
2507 or from Windows command line:
2509 \begin{lstlisting}[language=bash]
2511 "C:\ti\ccsv5\utils\bin\"gmake.exe
2514 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2518 \section{Commands description}
2520 This section contains the description of the available commands. The
2521 same description is also available in the program itself via the
2522 \texttt{help} command.
2524 \input{rpp-test-sw-cmds.tex}
2530 \textit{Analog to Digital Converter.} \newline{}
2531 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2532 digital number that represents the quantity's amplitude.
2535 \textit{Analog Input.} \newline{}
2536 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2539 \textit{Analog Output.} \newline{}
2540 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2542 \item[API] \textit{Application Programming Interface}
2545 \textit{Controller Area Network.} \newline{}
2546 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2547 communicate with each other within a vehicle without a host computer.
2548 In this project it is also used as mnemonic to refer to or something related to the CAN
2551 \item[CCS] \textit{Code Composer Studio} \\
2552 Eclipse-based IDE provided by Texas Instruments.
2555 \textit{Code Generation Tools.} \newline{}
2556 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2557 assemble, archive, among others. In this project is normally used as synonym for
2558 ``Texas Instruments ARM compiler and linker."
2561 \textit{Digital to Analog Converter.} \newline{}
2562 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2563 (current, voltage, or electric charge).
2566 \textit{Digital Input.} \newline{}
2567 Mnemonic to refer to or something related to the digital input hardware module.
2570 \textit{Engine Control Unit.} \newline{}
2571 A type of electronic control unit that controls a series of actuators on an internal combustion
2572 engine to ensure the optimum running.
2575 \textit{Ethernet.} \newline{}
2576 Mnemonic to refer to or something related to the Ethernet hardware module.
2579 \textit{FlexRay.} \newline{}
2580 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2582 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2586 \textit{General Purpose Input/Output.} \newline{}
2587 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2588 controlled (programmed) by the user at run time.
2591 \textit{H-Bridge.} \newline{}
2592 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2593 an electronic circuit that enables a voltage to be applied across a load in either direction.
2596 \textit{High-Power Output.} \newline{}
2597 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2598 output hardware module.
2601 \textit{Integrated Development Environment.} \newline{}
2602 An IDE is a Software application that provides comprehensive facilities to computer programmers
2603 for software development.
2606 \textit{Legacy Code Tool.} \newline{}
2607 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2611 \textit{Model-Based Design.} \newline{}
2612 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2613 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2616 \textit{Matlab Executable.} \newline{}
2617 Type of binary executable that can be called within Matlab. In this document the common term
2618 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2622 \textit{Pulse-width modulation.} \newline{}
2623 Technique for getting analog results with digital means. Digital control is used to create a
2624 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2625 in between full on and off by changing the portion of the time the signal spends on versus
2626 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2627 \textit{duty cycle}.
2629 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2630 developed platform, that includes both hardware and software.
2633 \textit{Serial Communication Interface.} \newline{}
2634 Serial Interface for communication through hardware's UART using communication standard RS-232.
2635 In this project it is also used as mnemonic to refer to or something related to the Serial
2636 Communication Interface hardware module.
2639 \textit{SD-Card.} \newline{}
2640 Mnemonic to refer to or something related to the SD-Card hardware module.
2643 \textit{SD-RAM.} \newline{}
2644 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2647 \textit{Target Language Compiler.} \newline{}
2648 Technology and language used to generate code in Matlab/Simulink.
2651 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2652 Hardware circuitry that translates data between parallel and serial forms.
2659 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2660 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2661 % LocalWords: IOs HDK TMDSRM