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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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193 %\addtolength{\parskip}{\baselineskip} % Paragraph spacing
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 (OS) 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
336 library for Linux system.
337 \item[8.2.2] Currently used FreeRTOS version. This is the version
338 downloaded from FreeRTOS.org with changes in directory structure.
339 Namely, include files have added the \emph{os/} prefix and platform
340 dependent code (portable) for \tgname{} is copied to the same
341 directory as platform independent code.
344 \subsection{System Layer}
345 \label{sec-system-layer}
346 This layer contains system files with data types definitions, clock definitions,
347 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
348 code for controlling some of the MCU peripherals. The source files can be found
349 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
350 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
353 Large part of this layer was generated by the HalCoGen tool (see
354 Section~\ref{sec-halcogen}).
356 \subsection{Drivers layer}
357 \label{sec-drivers-layer}
358 The Drivers layer contains code for controlling the RPP peripherals.
359 Typically, it contains code implementing IRQ handling, software
360 queues, management threads, etc. The layer benefits from the lower
361 layers thus it is not too low level, but still there are some
362 peripherals like ADC, which need some special procedure for
363 initialization and running, that would not be very intuitive for the
366 The source files can be found in
367 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
368 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
370 \subsection{RPP Layer}
371 \label{sec-rpp-layer}
372 The RPP Layer is the highest layer of the library. It provides an easy
373 to use set of functions for every peripheral and requires only basic
374 knowledge about them. For example, to use the ADC, the user can just
375 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
376 Driver layer functions to initialize the hardware and software.
378 The source files can be found in
379 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
380 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
382 \section{Document structure}
383 \label{sec-document-structure}
384 The structure of this document is as follows:
385 Chapter~\ref{chap-getting-started} gets you started using the RPP
386 software. Chapter~\ref{chap-c-support-library} describes the RPP
387 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
388 code generation target and finally
389 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
390 testing of the RPP functionality.
392 \chapter{Getting started}
393 \label{chap-getting-started}
395 \section{Software requirements}
396 \label{sec-software-requirements}
397 The RPP software stack can be used on Windows and Linux platforms. The
398 following subsections mention the recommended versions of the required
399 software tools/packages.
401 \subsection{Linux environment}
402 \label{sec-linux-environment}
404 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
406 \item Kernel version 3.11.0-12.
407 \item GCC version 4.8.1
408 \item GtkTerm 0.99.7-rc1
409 \item TI Code Composer Studio 5.5.0.00077
410 \item Matlab 2013b 64b with Embedded Coder
411 \item HalCoGen 4.00 (optional)
412 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
413 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
414 \item Git 1.7.10.4 (optional)
417 \subsection{Windows environment}
418 \label{sec-windows-environment}
420 \item Windows 7 Enterprise 64b Service Pack 1.
421 \item Microsoft Windows SDK v7.1
422 \item Bray Terminal v1.9b
423 \item TI Code Composer Studio 5.5.0.00077
424 \item Matlab 2013b 64b with Embedded Coder
425 \item HalCoGen 4.00 (optional)
426 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
427 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
428 \item Git 1.9.4.msysgit.2 (optional)
431 \section{Software tools}
432 \label{sec-software-and-tools}
434 This section covers tool which are needed or recommended for work with
437 \subsection{TI Code Composer Studio}
439 Code Composer Studio (CCS) is the official Integrated Development Environment
440 (IDE) for developing applications for Texas Instruments embedded processors. CCS
441 is multiplatform software based on
442 Eclipse open source IDE.
444 CCS includes Texas Instruments Code Generation Tools (CGT)
445 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
446 (compiler, linker, etc). Simulink code generation target requires the
447 CGT to be available in the system, and thus, even if no library
448 development will be done or the IDE is not going to be used CCS is
451 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
452 for CGT archiver in \cite{armassemblylanguagetools2012}.
454 \subsubsection{Installation on Linux}
455 \label{sec-installation-on-linux}
456 Download CCS for Linux from:\\
457 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
459 Once downloaded, add executable permission to the installation file
460 and launch the installation by executing it. Installation must be done
461 by the root user in order to install a driver set.
463 \lstset{language=bash}
465 chmod +x ccs_setup_5.5.0.00077.bin
466 sudo ./ccs_setup_5.5.0.00077.bin
469 After installation the application can be executed with:
471 \lstset{language=bash}
473 cd <ccs>/ccsv5/eclipse/
477 The first launch on 64bits systems might fail. This can happen because CCS5 is
478 a 32 bit application and thus requires 32 bit libraries. They can be
481 \lstset{language=bash}
483 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
486 If the application crashes with a segmentation fault edit file:
488 \lstset{language=bash}
490 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
493 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
495 \subsubsection{Installation on Windows}
496 \label{sec-installation-on-windows}
497 Installation for Windows is more straightforward than the installation
498 procedure for Linux. Download CCS for Windows from:\\
499 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
501 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
503 \subsubsection{First launch}
504 \label{sec-first-launch}
505 If no other licence is available, choose ``FREE License -- for use
506 with XDS100 JTAG Emulators'' from the licensing options. Code download
507 for the board uses the XDS100 hardware.
509 \subsection{Matlab/Simulink}
510 \label{sec-matlab-simulink}
511 Matlab Simulink is a set of tools, runtime environment and development
512 environment for Model--Based \cite{modelbasedwiki2013} applications development,
513 simulations and code generation for target platforms. Supported Matlab Simulink
514 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
515 necessary to be able to generate code from Simulink models, containing RPP blocks.
517 \subsection{HalCoGen}
519 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.
521 The tool is available for Windows at
523 \url{http://www.ti.com/tool/halcogen}
526 The HalCoGen has been used in early development stage of the RPP
527 project to generate the base code for some of the peripheral. The
528 trend is to not to use the HalCoGen any more, because the generated
529 code is not reliable enough for safety critical applications. Anyway it is
530 sometimes helpful to use it as a reference.
532 The HalCoGen is distributed for Windows only, but can be run on Linux
533 under Wine (tested with Wine version 1.6.2).
535 \subsection{GtkTerm and Bray Terminal}
536 \label{sec-gtkterm-bray-terminal}
537 Most of the interaction with the board is done through a RS-232 serial
538 connection. The terminal software used for communication is called GtkTerm for
539 Linux and Bray terminal for Windows.
541 To install GtkTerm execute:
543 \lstset{language=bash}
545 sudo apt-get install gtkterm
548 The Bray Terminal does not require any installation and the executable file is
550 \url{https://sites.google.com/site/terminalbpp/}
552 \subsection{C Compiler}
553 \label{sec-c-compiler}
554 A C language compiler has to be available on the development system to be able to
555 compile Matlab Simulink blocks S-functions.
557 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
560 \lstset{language=bash}
562 sudo apt-get install gcc
565 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
566 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
568 \section{Project installation}
569 \label{sec-project-installation}
570 The RPP software is distributed in three packages and a standalone pdf
571 file containing this documentation. Every package is named like
572 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
576 \item[rpp-simulink] Contains the source code of Matlab Simulink
577 blocks, demo models and scripts for downloading the generated
578 firmware to the target board from Matlab/Simulink. Details can be
579 found in Chapter \ref{chap-simulink-coder-target}.
581 The package also contains the binary of the RPP Library and all its
582 headers and other files necessary for building and downloading
584 \item[rpp-test-sw] Contains an application for interactive testing and
585 control of the \tgtBoardName{} board over the serial interface. Details can be
586 found in Chapter~\ref{chap-rpp-test-software}.
588 The package also contains the binary of the RPP Library and all
589 headers and other files necessary for building and downloading the
591 \item[rpp-lib] Contains the source code of the RPP library, described
592 in Chapter \ref{chap-c-support-library}. If you want to make any
593 changes in the drivers or the RPP API, this library has to be
594 compiled and linked with applications in the other two packages.
595 Library compilation is described in Section \ref{sec-compilation}.
598 The following sections describe how to start working with individual
601 \ifx\tgtId\tgtIdTMSRPP
602 \subsection{Getting sources from git repository}
604 git clone --recursive git@rtime.felk.cvut.cz:jenkicar/rpp-simulink
606 If you get release packages, follow the instructions in the next sections.
609 \subsection{rpp-simulink}
610 \label{sec-rpp-simulink-installation}
611 This section describes how to install the rpp-simulink project, which
612 is needed to try the demo models or to build your own models that use
616 \item Unzip the \texttt{rpp-simulink-version.zip} file.
617 \item Follow the procedure from Section
618 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
619 Simulink for the RPP project.
620 \item Follow the procedure from Section \ref{sec-crating-new-model}
621 for instructions about creating your own model which will use the
622 RPP Simulink blocks or follow the instructions in
623 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
626 \subsection{rpp-test-sw}
627 \label{sec-test-sw-installation}
628 This section describes how to install and run the application that
629 allows you to interactively control the RPP hardware. This can be
630 useful, for example, to test your modifications of the RPP library.
633 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
634 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
635 \item Import the \texttt{rpp-test-sw} project as described in
636 Section \ref{sec-openning-of-existing-project}.
637 \item Right click on the \texttt{rpp-test-sw} project in the
638 \textsc{Project Explorer} and select \textsc{Build Project}.
639 \item Follow the instructions in
640 Section~\ref{sec-running-software-on-hw} to download, debug and
641 run the software on the target hardware.
645 \label{sec-rpp-lib-installation}
647 This section describes how to open the rpp-lib project in Code
648 Composer Studio and how to use the resulting static library in an
649 application. This is only necessary if you need to modify the library
653 \item Unzip the \texttt{rpp-lib-version.zip} file.
654 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
655 \item Import the rpp-lib project from directory
656 \texttt{rpp-lib-XXX/build/\tgtId} as described in
657 Section~\ref{sec-openning-of-existing-project}.
658 \item Compile the static library by selecting \textsc{Project
659 $\rightarrow$ Build Project} (see Section
660 \ref{sec-compilation} for more information). The compiled
661 library \texttt{rpp-lib.lib} and file
662 \texttt{Makefile.config} will appear in the
663 \texttt{rpp-lib-XXX} directory.
664 \item Either copy the compiled library and the content of the
665 \texttt{rpp/include} directory to the application, where you
666 want to use it or use the library in place, as described in
667 Section~\ref{sec:creating-new-project}.
669 \item In the rpp-simulink application the library is located in
670 the \texttt{rpp/lib} folder.
671 \item In the rpp-test-sw application the library is located in
672 the \texttt{rpp-lib} folder.
676 \section{Code Composer Studio usage}
677 \label{sec-code-composerpstudio-usage}
679 \subsection{Opening an existing project}
680 \label{sec-openning-of-existing-project}
681 The procedure for opening a project is similar to opening a project in
682 the standard Eclipse IDE.
685 \item Launch Code Composer Studio
686 \item Select \textsc{File$\rightarrow$Import}
687 \item In the dialog window select \textsc{Code Composer
688 Studio$\rightarrow$Existing CCS Eclipse project} as an import
689 source (see Figure \ref{fig-import-project}).
690 \item In the next dialog window click on \textsc{Browse} button
691 and find the root directory of the project.
692 \item Select the requested project in the \textsc{Discovered
693 project} section so that the result looks like in Figure
694 \ref{fig-select-project}.
695 \item Click the \textsc{Finish} button.
698 \begin{figure}[H]\begin{center}
699 \includegraphics[width=350px]{images/import_project.png}
700 \caption{Import project dialog}
701 \label{fig-import-project}
702 \end{center}\end{figure}
704 \begin{figure}[H]\begin{center}
705 \includegraphics[width=350px]{images/select_project.png}
706 \caption{Select project dialog}
707 \label{fig-select-project}
708 \end{center}\end{figure}
711 \subsection{Creating new project}
712 \label{sec:creating-new-project}
713 Follow these steps to create an application for \tgname{} MCU compiled with
717 \item Create a new empty CCS project. Select \mcuname{} device, XDS100v2
718 connection and set Linker command file to
719 \texttt{rpp-lib/build/\tgtId/\ldscriptname}.
721 \noindent\includegraphics[scale=0.45]{images/base_1.png}
723 \item In \textsc{Project Explorer}, create normal folders
724 named \texttt{include} and \texttt{src}.
726 \item If you use Git version control system, add \texttt{.gitignore}
727 file with the following content to the root of that project:
736 \item In project \textsc{Properties}, add new variable of type
737 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
741 \noindent\includegraphics[scale=.45]{images/base_2.png}
743 \item Configure the compiler \#include search path to contain
744 project's \texttt{include} directory, \penalty-100
745 \texttt{\$\{RPP\_LIB\_ROOT\}/os/8.2.2/include} and
746 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
748 \includegraphics[scale=.43]{images/base_5.png}
751 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
752 linked libraries before the runtime support library
753 (\texttt{\tgtRtlib}).
755 \noindent\includegraphics[scale=.45]{images/base_3.png}
757 \item Configure the compiler to allow GCC extensions.
759 \noindent\includegraphics[scale=.45]{images/base_6.png}
762 \item Create \texttt{main.c} file with the following content:
763 \begin{lstlisting}[language=C]
769 rpp_sci_printf("Hello world\n");
770 vTaskStartScheduler();
771 return 0; /* not reached */
774 void vApplicationMallocFailedHook()
776 void vApplicationStackOverflowHook()
780 \item Compile the application by e.g. \textsc{Project $\rightarrow$
782 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
783 application will be downloaded to the processor and run. A
784 breakpoint is automatically placed at \texttt{main()} entry. To
785 continue executing the application select \textsc{Run} $\rightarrow$
787 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
788 that the linker script selected in step 1 is not excluded from the build.
789 You can do this by right clicking the \texttt{\ldscriptname} file
790 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
791 item. The Code Composer Studio sometimes automaticaly excludes this file from
792 the build process when creating a new project.
794 % \item If not already created for another project, create new target
795 % configuration. Select \textsc{Windows $\rightarrow$ Show View
796 % $\rightarrow$ Target Configurations}. In the shown window, click
797 % on \textsc{New Target Configuration} icon and configure XDS100v2
798 % connection and \mcuname{} device as shown below. Click \textsc{Save},
799 % connect your board and click \textsc{Test Connection}.
802 % \includegraphics[width=\linewidth]{images/target_conf.png}
805 \item Optionally, you can change debugger configuration by selecting
806 \textsc{Run $\rightarrow$ Debug Configurations}. In the
807 \textsc{Target} tab, you can configure not to break at \texttt{main}
808 or not to erase the whole flash, but necessary sectors only (see the
811 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
816 %% Comment this out for Eaton
817 % \subsubsection{Steps to configure new POSIX application:}
818 % Such an application can be used to test certain FreeRTOS features on
819 % Linux and can be compiled with a native GCC compiler.
821 % \begin{compactenum}
822 % \item Create a new managed C project that uses Linux GCC toolchain.
823 % \item Create a source folder \texttt{src}. Link all files from original
824 % CCS application to this folder.
825 % \item Create a normal folder \texttt{include}. Create a folder
826 % \texttt{rpp} inside of it.
827 % \item Add common \texttt{.gitignore} to the root of that project:
834 % \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
835 % repository branch root.\newline{}
836 % \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
837 % \item Configure compiler to include local includes, CCS application
838 % includes, OS includes for POSIX and RPP includes, in that order.\newline{}
839 % \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
841 % \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
842 % \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
843 % \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
846 \subsubsection{Content of the application}
849 \item Include RPP library header file.
850 \lstset{language=c++}
855 If you want to reduce the size of the final application, you can
856 include only the headers of the needed modules. In that case, you
857 need to include two additional headers: \texttt{base.h} and, in case
858 when SCI is used for printing, \texttt{rpp/sci.h}.
860 #include "rpp/hbr.h" /* We want to use H-bridge */
861 #include <base.h> /* This is the necessary base header file of the rpp library. */
862 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
866 \item Create one or as many FreeRTOS task function definitions as
867 required. Those tasks can use functions from the RPP library. Beware
868 that currently not all RPP functions are
869 reentrant\footnote{Determining which functions are not reentrant and
870 marking them as such (or making them reentrant) is planned as
871 future work.}. \lstset{language=c++}
873 void my_task(void* p)
875 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
876 portTickType last_wake_time = xTaskGetTickCount();
878 /* Wait until next step */
879 vTaskDelayUntil(&last_wake_time, freq_ticks);
880 rpp_sci_printf((const char*)"Hello RPP.\r\n");
885 \item Create the main function that will:
887 \item Initialize the RPP board. If you have included only selected
888 modules in step 1, initialize only those modules by calling their init
890 example \texttt{rpp\_hbr\_init\(\)}.
891 \item Spawn the tasks the application requires. Refer to FreeRTOS API
893 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
895 \item Handle error when the FreeRTOS scheduler cannot be started.
897 \lstset{language=c++}
901 /* In case whole library is included: */
902 /* Initialize RPP board */
904 /* In case only selected modules are included: */
907 /* Initialize sci for printf */
909 /* Enable interrups */
913 if (xTaskCreate(my_task, (const signed char*)"my_task",
914 512, NULL, 0, NULL) != pdPASS) {
916 rpp_sci_printf((const char*)
917 "ERROR: Cannot spawn control task.\r\n"
923 /* Start the FreeRTOS Scheduler */
924 vTaskStartScheduler();
926 /* Catch scheduler start error */
928 rpp_sci_printf((const char*)
929 "ERROR: Problem allocating memory for idle task.\r\n"
937 \item Create hook functions for FreeRTOS:
939 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
941 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
944 \lstset{language=c++}
946 #if configUSE_MALLOC_FAILED_HOOK == 1
948 * FreeRTOS malloc() failed hook.
950 void vApplicationMallocFailedHook(void) {
952 rpp_sci_printf((const char*)
953 "ERROR: manual memory allocation failed.\r\n"
960 #if configCHECK_FOR_STACK_OVERFLOW > 0
962 * FreeRTOS stack overflow hook.
964 void vApplicationStackOverflowHook(xTaskHandle xTask,
965 signed portCHAR *pcTaskName) {
967 rpp_sci_printf((const char*)
968 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
980 \subsection{Downloading and running the software}
981 \label{sec-running-software-on-hw}
982 \subsubsection{Code Composer Studio Project}
983 \label{sec-ccs-run-project}
984 When an application is distributed as a CCS project, you have to open the
985 project in the CCS as described in the Section
986 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
987 can be easily downloaded to the target hardware with the following procedure:
990 \ifx\tgtId\tgtIdTMSRPP
991 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG port.
992 \item Connect a USB cable to the XDS100v2 USB emulator and the development computer.
994 \item Connect the USB cable to the \tgtBoardName{} board.
996 \item Plug in the power supply.
997 \item In the Code Composer Studio click on the
998 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
999 the download process will start. The Code Composer Studio will switch into the debug
1000 perspective, when the download is finished.
1001 \item Run the program by clicking on the \textsc{Run} button, with the
1005 \subsubsection{Binary File}
1006 \label{sec-binary-file}
1007 If the application is distributed as a binary file, without source code and CCS
1008 project files, you can download and run just the binary file by creating a new
1009 empty CCS project and configuring the debug session according to the following
1013 \item In Code Composer Studio click on
1014 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1015 \item In the dialog window, type in a project name, for example
1016 myBinaryLoad, Select \textsc{Device
1017 variant} (ARM, Cortex R, \mcuname, Texas Instruments XDS100v2 USB Emulator)
1018 and select project template to \textsc{Empty Project}. The filled dialog should
1019 look like in Figure~\ref{fig-new-empty-project}
1020 \item Click the \textsc{Finish} button and a new empty project will
1022 \item In the \textsc{Project Explorer} right-click on the project and
1023 select \textsc{Debug as$\rightarrow$Debug configurations}.
1024 \item Click \textsc{New launch configuration} button
1025 \item Rename the New\_configuration to, for example, myConfiguration.
1026 \item Select configuration target file by clicking the \textsc{File
1027 System} button, finding and selecting the \texttt{rpp-lib-XXX/build/\tgtId/\tgconfigfilename} file. The result
1028 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1029 \item In the \textsc{program} pane select the binary file you want to
1030 download to the board. Click on the \textsc{File System} button,
1031 find and select the binary file. Try, for example
1032 \texttt{rpp-test-sw.out}. The result should look like in
1033 Figure~\ref{fig-debug-conf-program-diag}.
1034 \item You may also tune the target configuration as described in
1035 Section \ref{sec-target-configuration}.
1036 \item Finish the configuration by clicking the \textsc{Apply} button
1037 and download the code by clicking the \textsc{Debug} button. You can
1038 later invoke the download also from the
1039 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1040 create more Debug configurations and CCS empty projects as you can
1041 easily change the binary file in the Debug configuration to load a
1042 different binary file.
1045 \begin{figure}[H]\begin{center}
1046 \includegraphics[scale=.45]{images/new_empty_project.png}
1047 \caption{New empty project dialog}
1048 \label{fig-new-empty-project}
1049 \end{center}\end{figure}
1051 \begin{figure}[H]\begin{center}
1052 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1053 \caption{Debug Configuration Main dialog}
1054 \label{fig-debug-conf-main-diag}
1055 \end{center}\end{figure}
1057 \subsection{Target configuration}
1058 \label{sec-target-configuration}
1059 Default target configuration erases the whole Flash memory, before
1060 downloading the code. This takes long time and in most cases it is
1061 not necessary. You may disable this feature by the following procedure:
1063 \item Right click on the project name in the \textsc{Project Browser}
1064 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1065 \item In the dialog window select \textsc{Target} pane.
1066 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1067 \textsc{Necessary sectors only}.
1068 \item Save the configuration by clicking the \textsc{Apply} button
1069 and close the dialog.
1072 \begin{figure}[H]\begin{center}
1073 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1074 \caption{Configuration Program dialog}
1075 \label{fig-debug-conf-program-diag}
1076 \end{center}\end{figure}
1078 \section{Matlab Simulink usage}
1079 \label{sec-matlab-simulink-usage}
1080 This section describes the basics of working with the RPP code
1081 generation target for Simulink. For a more detailed description of the
1082 code generation target refer to
1083 Chapter~\ref{chap-simulink-coder-target}.
1085 \subsection{Configuring Simulink for RPP}
1086 \label{sec-configuration-simulink-for-rpp}
1087 Before any work or experiments with the RPP blocks and models, the RPP
1088 target has to be configured to be able to find the ARM cross-compiler,
1089 native C compiler and some other necessary files. Also the S-Functions
1090 of the blocks have to be compiled by the mex tool.
1092 \item Download and install Code Composer Studio CCS (see
1093 Section~\ref{sec-ti-ccs}).
1094 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1095 \item On Windows you have to tell the \texttt{mex} which C compiler to
1096 use. In the Matlab command window run the \texttt{mex -setup}
1097 command and select the native C compiler.
1099 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1102 Welcome to mex -setup. This utility will help you set up
1103 a default compiler. For a list of supported compilers, see
1104 http://www.mathworks.com/support/compilers/R2013b/win64.html
1106 Please choose your compiler for building MEX-files:
1108 Would you like mex to locate installed compilers [y]/n? y
1111 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1117 Please verify your choices:
1119 Compiler: Microsoft Software Development Kit (SDK) 7.1
1120 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1122 Are these correct [y]/n? y
1124 ***************************************************************************
1125 Warning: MEX-files generated using Microsoft Windows Software Development
1126 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1127 libraries be available on the computer they are run on.
1128 If you plan to redistribute your MEX-files to other MATLAB
1129 users, be sure that they have the run-time libraries.
1130 ***************************************************************************
1133 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1134 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1138 **************************************************************************
1139 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1140 variables with more than 2^32-1 elements. In the near future
1141 you will be required to update your code to utilize the new
1142 API. You can find more information about this at:
1143 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1144 Building with the -largeArrayDims option enables the new API.
1145 **************************************************************************
1148 \item Configure the RPP code generation target:
1150 Open Matlab and in the command window run:
1152 \lstset{language=Matlab}
1154 cd <rpp-simulink>/rpp/rpp/
1158 This will launch the RPP setup script. This script will ask the user to provide
1159 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1160 binary is located), normally:
1163 <ccs>/tools/compiler/arm_5.X.X/
1166 Then Matlab path will be updated and block S-Functions will be built.
1168 \item Create new model or load a demo:
1170 Demos are located in \texttt{\repo/rpp/demos}. Creation of new
1171 models is described in Section~\ref{sec-crating-new-model} below.
1175 \subsection{Working with demo models}
1176 \label{sec-openning-demo-models}
1177 The demo models are available from the directory
1178 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1179 for downloading to the RPP board open them in Matlab. Use either the
1180 GUI or the following commands:
1182 \begin{lstlisting}[language=Matlab]
1183 cd <rpp-simulink>/rpp/demos
1184 open cantransmit.slx
1187 The same procedure can be used to open any other models. To build the
1188 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1189 Model}. This will generate the C code and build the binary firmware
1190 for the RPP board. To run the model on the target hardware see
1191 Section~\ref{sec-running-model-on-hw}.
1193 \subsection{Creating new model}
1194 \label{sec-crating-new-model}
1196 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1197 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1198 \item The new Simulink model needs to be configured in the following way:
1200 \item Solver (Figure \ref{fig-solver}):
1202 \item Solver type: \emph{Fixed-step}
1203 \item Solver: \emph{discrete}
1204 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1206 \item Tasking mode: \textit{SingleTasking}.
1209 \includegraphics[scale=.45]{images/simulink_solver.png}
1210 \caption{Solver settings}
1214 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1215 % \begin{compactitem}
1216 % \item Disable warning ``Source block specifies -1 sampling
1217 % time''. It's ok for the source blocks to run once per tick.
1220 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1221 % \caption{Sample Time settings}
1222 % \label{fig-sample-time-settings}
1225 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1227 \item Set ``System target file'' to \texttt{rpp.tlc}.
1230 \includegraphics[scale=.45]{images/simulink_code.png}
1231 \caption{Code Generation settings}
1232 \label{fig-code-gen-settings}
1236 \item Once the model is configured, you can open the Library Browser
1237 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1238 blocks to create the model. The RPP-specific blocks are located in
1239 the RPP Block Library.
1240 \item From Matlab command window change the current directory to where
1241 you want your generated code to appear, e.g.:
1242 \begin{lstlisting}[language=Matlab]
1245 The code will be generated in a subdirectory named
1246 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1248 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1249 Code $\rightarrow$ Build Model}.
1252 To run the model on the \tgtBoardName{} board continue with Section
1253 \ref{sec-running-model-on-hw}.
1255 \subsection{Running models on the RPP board}
1256 \label{sec-running-model-on-hw}
1257 To run the model on the \tgtBoardName{} hardware you have to enable the download
1258 feature and build the model by following this procedure:
1260 \item Open the model you want to run (see
1261 Section~\ref{sec-openning-demo-models} for example with demo
1263 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1265 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1266 check the \textsc{Download compiled binary to RPP} checkbox. Click
1267 the \textsc{OK} button
1268 \item Connect the target hardware to the computer (see Section
1269 \ref{sec-ccs-run-project}) and build the model by \textsc{Code
1270 $\rightarrow$ C/C++ Code $\rightarrow$ Build Model}. If the build
1271 succeeds, the download process will start automatically and once
1272 the downloading is finished, the application will run immediately.
1275 %%\subsubsection{Using OpenOCD for downloading}
1276 %%\label{sec:using-open-downl}
1278 %%On Linux systems, it is possible to use an alternative download
1279 %%mechanism based on the OpenOCD tool. This results in much shorter
1280 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1281 %%download the compiled binary'' checkbox. For more information about
1282 %%the OpenOCD configuration refer to our
1283 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1285 %%Note: You should close any ongoing Code Composer Studio debug sessions
1286 %%before downloading the generated code to the RPP board. Otherwise the
1289 \section{Configuring serial interface}
1290 \label{sec-configuration-serial-interface}
1291 The main mean for communication with the RPP board is the serial line.
1292 Each application may define its own serial line settings, but the
1293 following settings are the default:
1296 \item Baudrate: 115200
1300 \item Flow control: none
1303 Use GtkTerm on Linux or Bray Terminal on Windows for accessing the
1304 serial interface. On \tgtBoardName{} board, the serial line is tunneled over
1306 % TODO: Conditional compilation
1307 % See Section \ref{sec-hardware-description} for reference about
1308 % the position of the serial interface connector on the RPP board.
1310 \section{Bug reporting}
1311 \label{sec-bug-reporting}
1313 Please report any problems to CTU's bug tracking system at
1314 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1315 to register in the system and notify Michal Sojka about their
1316 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1319 \chapter{C Support Library}
1320 \label{chap-c-support-library}
1322 This chapter describes the implementation of the C support library
1323 (RPP Library), which is used both for Simulink code generation target
1324 and command line testing tool.
1326 \section{Introduction}
1327 \label{sec-description}
1328 The RPP C Support Library (also called RPP library) defines the API for
1329 working with the board. It includes drivers and the operating system.
1331 designed from the board user perspective and exposes a simplified high-level API
1332 to handle the board's peripheral modules in a safe manner. The library is
1333 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1334 \texttt{\repo/rpp/lib}.
1336 The RPP library can be used in any project, where the RPP hardware
1337 support is required and it is also used in two applications --
1338 Simulink Coder Target, described in Chapter
1339 \ref{chap-simulink-coder-target}, and the command line testing tool,
1340 described in Chapter \ref{chap-rpp-test-software}.
1342 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1344 \section{API development guidelines}
1345 \label{sec-api-development-guidlines}
1347 The following are the development guidelines used for developing the RPP API:
1350 \item User documentation should be placed in header files, not in source
1351 code, and should be Doxygen formatted using autobrief. Documentation for each
1352 function present is mandatory.
1353 \item Function declarations in the headers files is for public functions
1354 only. Do not declare local/static/private functions in the header.
1355 \item Documentation in source code files should be non-doxygen formatted
1356 and intended for developers, not users. Documentation here is optional and at
1357 the discretion of the developer.
1358 \item Always use standard data types for IO when possible. Use custom
1359 structs as very last resort. \item Use prefix based functions names to avoid
1360 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1361 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1363 \item Be very careful about symbol export. Because it is used as a
1364 static library the modules should not export any symbol that is not intended to
1365 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1366 of thumb declare all global variables as static.
1367 \item Only the RPP Layer symbols are available to user applications. All
1368 information related to lower layers is hidden for the application. This is
1369 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1370 implementations files only and never on the interface files. Never expose any
1371 other layer to the application or to the whole system below the RPP layer. In
1372 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1376 \section{Coding style}
1377 \label{sec-coding-style}
1378 In order to keep the code as clean as possible, unified coding style
1379 should be followed by any contributor to the code. The used coding
1380 style is based on the default configuration of Code Composer Studio
1381 editor. Most notable rule is that the Tab character is 4 spaces.
1383 The RPP library project is prepared for use of a tool named
1384 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1385 that do not match the coding style. However, keep in mind that the
1386 program is not perfect and sometimes it can modify code where the
1387 suggested coding style has been followed. This does not causes
1388 problems as long as the contributor follows the committing procedure
1389 described in next paragraph.
1391 When contributing to the code, the contributor should learn the
1392 current coding style from existing code. When a new feature is
1393 implemented and committed to the local repository, the following
1394 commands should be called in Linux terminal:
1396 \begin{lstlisting}[language=bash]
1400 The first line command corrects many found coding style violations and
1401 the second command displays them. If the user agree with the
1402 modification, he/she should amend the last commit, for example by:
1403 \begin{lstlisting}[language=bash]
1408 \section{Subdirectory content description}
1409 \label{sec-rpp-lib-subdirectory-content-description}
1411 The following files and directories are present in the library source
1415 \item[rpp-lib.lib] Compiled RPP library.
1417 The library is needed for Simulink models and other ARM/\tgname{}
1418 applications. It is placed here by the Makefile, when the library is
1421 \item[apps/] Various applications related to the RPP library.
1423 This include the CCS studio project for generating of the static
1424 library and a test suite. The test suit in this directory has
1425 nothing common with the test suite described later in
1426 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1427 to be merged in the future. Also other Hello World applications are
1428 included as a reference about how to create an \tgname{}
1430 \item[build] The library can be compiled for multiple targets. Each
1431 supported target has a subdirectory here, which stores configuration
1432 of how to compile the library and applications for different target.
1433 Each subdirectory contains a CCS project and Makefiles to build the
1434 library for the particular target.
1435 \item[build/$\langle$target$\rangle$/Makefile.config] Configuration
1436 for the particular target. This includes compiler and linker
1438 \item[build/$\langle$target$\rangle$/*.cmd]
1439 CGT Linker command file.
1441 This file is used by all applications that need to tun on the RPP
1442 board, including the Simulink models and test suite. It includes
1443 instructions for the CGT Linker about target memory layout and where
1444 to place various code sections.
1445 \item[os/] OS layers directory. See
1446 Section~\ref{sec-operating-system-layer} for more information about
1447 currently available operating system versions and
1448 Section~\ref{sec-changing-os} for information how to replace the
1450 \item[rpp/] Main directory for the RPP library.
1451 \item[rpp/doc/] RPP Library API
1453 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1454 implementations files for given \texttt{\{layer\}}. See
1455 Section~\ref{sec-software-architecture} for details on the RPP
1457 \item[rpp/include/rpp/rpp.h] Main library header file.
1459 To use this library with all its modules, just include this file
1460 only. Also, before using any library function call the
1461 \texttt{rpp\_init()} function for hardware initialization.
1462 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1463 \texttt{\{mnemonic\}} module.
1465 These files includes function definitions, pin definitions, etc,
1466 specific to \{mnemonic\} module. See also
1467 Section~\ref{sec-api-development-guidlines}.
1469 If you want to use only a subset of library functions and make the
1470 resulting binary smaller, you may include only selected
1471 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1472 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1473 \texttt{rpp.h} and \texttt{rpp\_init} function.
1474 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1476 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1477 top of the DRV library.
1478 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1481 \section{Compilation}
1482 \label{sec-compilation}
1484 To compile the library open the Code Composer studio project
1485 \texttt{rpp-lib} from appropriate \texttt{build/<target>} directory
1486 (see Section~\ref{sec-openning-of-existing-project}) and build the
1487 project (\textsc{Project $\rightarrow$ Build Project}). If the build
1488 process is successful, the \texttt{rpp-lib.lib} and
1489 \texttt{Makefile.config} files will appear in the library root
1492 It is also possible to compile the library using the included
1493 \texttt{Makefile}. From the Linux command line run:
1494 \begin{lstlisting}[language=bash]
1495 cd <library-root>/build/<target>/Debug #or Release
1498 Note that this only works if Code Composer Studio is installed in
1499 \texttt{/opt/ti} directory. Otherwise, you have to set
1500 \texttt{CCS\_UTILS\_DIR} variable.
1502 On Windows command line run:
1503 \begin{lstlisting}[language=bash]
1504 cd <library-root>\build\<target>\Debug
1505 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1506 C:\ti\ccsv5\utils\bin\gmake.exe lib
1509 You have to use \texttt{gmake.exe} instead of \texttt{make} and it is
1510 necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You can
1511 also edit \texttt{\repo/build/Makefile.rules.arm} and set the variable
1514 Note that the Makefile still requires the Code Composer Studio (ARM
1515 compiler) to be installed because of the CGT.
1517 \section{Compiling applications using the RPP library}
1518 \label{sec:comp-appl-using}
1520 The relevant aspects for compiling and linking an application using
1521 the RPP library are summarized below.
1523 % \subsection{ARM target (RPP board)}
1524 % \label{sec:arm-target-rpp}
1526 The detailed instructions are presented in
1527 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1531 \item Configure include search path to contain the directory of
1532 used FreeRTOS version, e.g.
1533 \texttt{\repo/os/8.2.2/include}. See Section
1534 \ref{sec-software-architecture}.
1535 \item Include \texttt{rpp/rpp.h} header file or just the needed
1536 peripheral specific header files such as \texttt{rpp/can.h}.
1537 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1538 The RPP library must be placed before Texas Instruments
1539 support library \tgtRtlib.
1540 \item Use the provided linker command file
1541 \texttt{\ldscriptname}.
1544 % \subsection{POSIX target}
1545 % \label{sec:posix-target}
1547 % \begin{compactitem}
1548 % \item Include headers files of the OS for Simulation. At the time
1549 % of this writing the OS is POSIX FreeRTOS 6.0.4.
1550 % \item Include header files for the RPP library or for modules you
1551 % want to use (rpp\_can.h for CAN module for example).
1552 % \item Add library \texttt{librpp.a} to the linker libraries.
1553 % \item Add \texttt{pthread} to the linker libraries.
1556 \section{Compiling API documentation}
1557 \label{sec-compiling-api-documentation}
1558 The documentation of the RPP layer is formatted using Doxygen
1559 documentation generator. This allows to generate a high quality API
1560 reference. To generate the API reference run in a Linux terminal:
1562 \lstset{language=bash}
1564 cd <repo>/rpp/doc/api
1566 xdg-open html/index.html
1569 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1570 reference generation are their name is self-explanatory:
1580 \section{Changing operating system}
1581 \label{sec-changing-os}
1582 The C Support Library contains by default the FreeRTOS operating
1583 system in version 8.2.2. This section describes what is necessary to
1584 change in the library and other packages in order to replace the
1587 \subsection{Operating system code and API}
1589 The source and header files of the current operating system (OS) are
1590 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1591 operating system should also be placed in this directory.
1593 To make the methods and resources of the new OS available to the C Support
1594 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1595 the operating system header files.
1597 Current implementation for FreeRTOS includes a header file
1598 \texttt{\repo/rpp/lib/os/\-8.2.2\-include/os.h}, which
1599 contains all necessary declarations and definitions for the FreeRTOS.
1600 We suggest to provide a similar header file for your operating system as
1603 In order to compile another operating system into the library, it is
1604 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1605 contains a list of files that are compiled into the library. All lines
1606 starting with \texttt{os/} should be updated.
1608 \subsection{Device drivers}
1609 Drivers for SCI and ADC depend on the FreeRTOS features. These
1610 features need to be replaced by equivalent features of the new
1611 operating system. Those files should be modified:
1613 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1614 structure, referring to FreeRTOS queue and semaphore.
1615 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1617 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1618 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1619 suggest replacing this with OS independent type, e.g. number of
1620 milliseconds to wait, with $-1$ meaning infinite waiting time.
1621 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1622 specific features: semaphores, queues, data types
1623 (\texttt{portBASE\_TYPE}) and
1624 critical sections (\texttt{taskENTER\_CRITICAL} and
1625 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1626 task preemption is disabled. The same should be ensured by the other
1627 operating system or the driver should be rewritten to use other
1628 synchronization primitives.
1629 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1632 \subsection{System start}
1633 The initialization of the MCU and the system is in the
1634 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1635 operating system needs to handle interrupts generated by the Real-Time
1636 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1637 \texttt{vPreemptiveTick} has to be replaced.
1639 \subsection{Simulink template for main function}
1641 When the operating system in the library is replaced, the users of the
1642 library must be changed as well. In case of Simulink code generation
1643 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1644 template for generation of the \texttt{ert\_main.c} file, containing
1645 the main function, has to be modified to use proper functions for task
1646 creation, task timing and semaphores. The template is stored in
1647 \texttt{\repo/rpp/rpp/rpp\_srmain.tlc} file.
1649 \chapter{Simulink Coder Target}
1650 \label{chap-simulink-coder-target}
1652 The Simulink Coder Target allows to convert Simulink models to C code,
1653 compile it and download to the board.
1655 \section{Introduction}
1656 \label{sec-introduction}
1658 The Simulink RPP Target provides support for C source code generation from Simulink models and
1659 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1660 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1661 Code Composer Studio, and thus it depends on it for proper functioning.
1663 This target also provides support for automatic download of the compiled binary to the RPP
1666 \begin{figure}\begin{center}
1668 \includegraphics[scale=.45]{images/tlc_process.png}
1669 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1670 \end{center}\end{figure}
1672 \section{Features and limitations}
1673 \label{sec-features}
1676 \item Sampling frequencies up to 1\,kHz.
1677 \item Multi-rate models are executed in a single thread in
1678 non-preemptive manner. Support for multi-threaded execution will be
1679 available in the final version and will require careful audit of the
1680 RPP library with respect to thread-safe code.
1681 \item No External mode support yet. We work on it.
1682 \item Custom compiler options, available via OPTS variable in
1683 \emph{Make command} at \emph{Code Generation} tab (see Figure
1684 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1688 \section{RPP Options pane}
1689 \label{sec-rpp-target-options}
1691 The RPP Target includes the following configuration options, all of them
1692 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1693 \textsc{RPP Options}:
1696 \item \textbf{C system stack size}: this parameter is passed directly
1697 to the linker for the allocation of the stack. Note that this stack
1698 is used only for initializing the application and FreeRTOS. Once
1699 everything is initialized, another stack is used by the generated
1700 code. See below. Default value is 4096.
1702 \item \textbf{C system heap size}:
1703 \label{sec-rpp-target-options-heap-size} this parameter is passed
1704 directly to the linker for the allocation of the heap. Currently,
1705 the heap is not used, but will be used by the external mode in the future.
1706 Note that FreeRTOS uses its own heap whose size is independent of this
1708 \item \textbf{Model step task stack size}: this parameter will be
1709 passed to the \texttt{xTaskCreate()} that
1710 creates the task for the model to run. In a Simulink model there are always two tasks:
1712 \item The worker task. This task is the one that executes the model
1713 step. This task requires enough stack memory to execute the step.
1714 If your model does not run, it might be caused by too small stack.
1715 The memory needed for the stack depends on the size and structure
1717 \item The control task. This task controls when the worker task should execute and controls overruns.
1720 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1721 the board after the model is successfully built. Note that this option is unaware of the option
1722 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1723 only source code has been generated, failing graciously or uploading an old binary laying around
1724 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1725 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1726 script can be found in:
1728 <ccs>/ccs_base/scripting/examples/loadti/readme.txt
1729 http://processors.wiki.ti.com/index.php/Loadti
1732 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1733 download of the generated program, leaving the loaded program running.
1735 The \texttt{loadopenocd.sh} script will close after the download of the
1736 generated program as well, but the program will be stopped. In order to run
1737 the loaded program a manual reset of the board is required.
1739 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1740 implemented for the simulink target.
1742 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1743 implemented for the \mcuname{} simulink target.
1744 % TODO Not true - use conditional compilation here.
1746 \item \textbf{Print model metadata to SCI at start}: if set this option will
1747 print a message to the Serial Communication Interface when the model start
1748 execution on the board. This is very helpful to identify the model running on
1749 the board. The message is in the form:
1752 `model_name' - generated_date (TLC tlc_version)
1757 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1761 \section{Subdirectory content description}
1762 \label{sec-simulink-subdirectory-content-description}
1763 This section describes the directories of the Simulink Coder. If you are
1764 interested in particular file, refer the description at the beginning of the
1768 \item[doc/] Contains the sources of the documentation, you are now
1770 \item[refs/] Contains third party references, which license allows the
1772 \item[rpp/blocks] Contains the Simulink blocks specific to the
1773 \tgtBoardName{} board and their sources (.c and .tlc files). When an
1774 user calls \texttt{rpp\_setup.m}, these files are processed and
1775 Simulink block library \texttt{rpp\_lib.slx} is created.
1776 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1777 Matlab Simulink model.
1778 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1779 reference for the usage and for testing.
1780 \item[rpp/lib] Contains the C Support Library. See Chapter
1781 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1782 for Linux support of the OpenOCD, for code downloading to the target.
1783 \item[rpp/loadti] Contains download scripts for Linux and Windows
1784 support for code downloading to the target, using Texas Instruments CCS code
1786 \item[rpp/rpp] Contains set of support script for the Code Generator.
1789 \section{Block Library Overview}
1790 \label{sec-block-library-overview}
1791 The Simulink Block Library is a set of blocks that allows Simulink models to use
1792 board IO and communication peripherals. The available blocks are summarized in
1793 Table~\ref{tab:block-lib-status} and more detailed description is
1794 given in Section~\ref{sec-blocks-description}.
1797 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1799 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1801 \input{block_table.tex}
1803 \end{tabular}\end{center}
1805 \caption{Block library overview}
1806 \label{tab:block-lib-status}
1809 \label{sec-blocks-implementation}
1810 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1811 approach taken is briefly explained.
1813 \subsection{C MEX S-Functions}
1814 \label{sec-c-mex-functions}
1816 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1817 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1818 \item S-Function: System Function, as opposed to standard functions, or user functions.
1821 A C MEX S-Function is a structured C file that implements some mandatory and
1822 optional callbacks for a specification of a number of inputs, outputs, data
1823 types, parameters, rate, validity checking, etc. A complete list of callbacks
1826 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1829 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1830 diagram \ref{fig-sfunctions-process}:
1832 \begin{figure}[H]\begin{center}
1834 \includegraphics[scale=.45]{images/sfunctions_process.png}
1835 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1836 \label{fig-sfunctions-process}
1837 \end{center}\end{figure}
1839 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1840 the RPP blocks are for hardware peripherals control and IO the blocks are
1841 implemented as pure sink or pure source, the S-Function is just a descriptor of
1842 the block and does not perform any calculation and does not provide any input or
1843 output for simulations.
1845 The implementation of the S-Functions in the RPP project has following layout:
1848 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1849 \item Include header file \texttt{header.c}, which in connection with
1850 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1851 \item In \texttt{mdlInitializeSizes} define:
1853 \item Number of \textit{dialog} parameter.
1854 \item Number of input ports.
1856 \item Data type of each input port.
1858 \item Number of output ports.
1860 \item Data type of each output port.
1862 \item Standard options for driver blocks.
1864 \item In \texttt{mdlCheckParameters}:
1866 \item Check data type of each parameter.
1867 \item Check range, if applicable, of each parameter.
1869 \item In \texttt{mdlSetWorkWidths}:
1871 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1873 \item Data type of each \textit{runtime} parameter.
1876 \item Define symbols for unused functions.
1877 \item Include trailer file \texttt{trailer.c}.
1880 The C MEX S-Function implemented can be compiled with the following command:
1882 \lstset{language=bash}
1884 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1887 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1888 and use lower case mnemonic of the block.
1890 Also a script called \texttt{compile\_blocks.m} is included. The script that
1891 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1892 all S-Functions are compiled at once. To use this script, in Matlab do:
1894 \lstset{language=Matlab}
1896 cd <repo>/rpp/blocks/
1900 \subsection{Target Language Compiler files}
1901 \label{sec-target-language-compiler-files}
1903 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1904 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1905 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1906 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1909 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1910 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1911 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
1913 The TLC files implemented for this project use 3 hook functions in particular (other are available,
1914 see TLC reference documentation):
1916 \item \texttt{BlockTypeSetup}: \newline{}
1917 BlockTypeSetup executes once per block type before code generation begins.
1918 This function can be used to include elements required by this block type, like includes or
1920 \item \texttt{Start}: \newline{}
1921 Code here will be placed in the \texttt{void
1922 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
1924 \item \texttt{Outputs}: \newline{}
1925 Code here will be placed in the \texttt{void
1926 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
1927 inputs of a block and/or to set the outputs of that block.
1930 The general layout of the TLC files implemented for this project is:
1932 \item In \texttt{BlockTypeSetup}: \newline{}
1933 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
1934 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
1935 \item \texttt{Start}: \newline{}
1936 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
1937 DAC value initialization, SCI baud rate setup, among others.
1938 \item \texttt{Outputs}: \newline{}
1939 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
1940 is checked and in case of failure error is reported to the block using ErrFlag.
1943 C code generated from a Simulink model is placed on a file called
1944 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
1945 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
1946 For example, the source code generated for model \texttt{foobar} will be placed
1947 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
1949 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
1951 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
1952 This function recalculates all the outputs of the blocks and should be called once per step. This
1953 is the main working function.
1954 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
1955 This function is called only once before the first step is issued. Default values for blocks IOs
1956 should be placed here.
1957 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
1958 This function is called when terminating the model. This should be used to free memory or revert
1959 other operations made in the initialization function. With current implementation this function
1960 should never be called unless an error is detected and in most models it is empty.
1963 \section{Block reference}
1964 \label{sec-blocks-description}
1966 This section describes each one of the Simulink blocks present in the Simulink
1967 RPP block library, shown in Figure \ref{fig-block-library}.
1971 \includegraphics[width=\textwidth]{images/block_library.png}
1973 \caption{Simulink RPP Block Library.}
1974 \label{fig-block-library}
1977 \input{block_desc.tex}
1979 \section{Compilation}
1980 \label{sec-simulink-compilation}
1981 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:
1982 \lstset{language=Matlab}
1984 cd <rpp-simulink>/rpp/blocks
1988 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:
1991 \item Open Matlab and run those commands in the Matlab command line:
1992 \lstset{language=Matlab}
1994 cd <rpp-simulink>/rpp/demos
1997 \item Run those commands in a Linux terminal:
1998 \begin{lstlisting}[language=bash]
1999 cd <rpp-simulink>/rpp/demos
2003 or Windows command line:
2005 \begin{lstlisting}[language=bash]
2006 cd <rpp-simulink>\rpp\demos
2007 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2010 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}.
2013 \section{Adding new functionality}
2014 \label{sec:adding-new-funct}
2015 This section describes how to create new Simulink blocks and how to add them to the RPP
2016 blocks library. The new block creation process consists of several steps:
2018 \item Addition of the new functionality to the RPP C support library.
2019 \item Definition of the block interface as a C MEX S-Function
2020 (Section~\ref{sec:block-definition-c})
2021 \item Compilation of the block definition to MEX file
2022 (Section~\ref{sec:c-mex-file})
2023 \item Creation of the code generator template (TLC) file
2024 (Section~\ref{sec:tlc-file-creation}).
2025 \item Creation of an S-Function block in the RPP block library
2026 and ``connecting'' this block with the C MEX and TLC files
2027 (Section~\ref{sec:creation-an-s})
2028 \item Optional: Creation of the mask for the new block. The mask
2029 specifies graphical representation of the block as well as
2030 the content of the block parameters dialog box.
2032 The following subsections demonstrate the procedure on an example of a simple user defined block.
2034 \subsection{Block interface definition in a C MEX S-function}
2035 \label{sec:block-definition-c}
2036 In order to use a custom block in the Simulink model, Simulink must know
2037 a certain number of block attributes, such as the number and type of
2038 block inputs, outputs and parameters. These attributes are specified
2039 by a set of functions in a C file. This C file gets compiled by the MEX
2040 compiler into a MEX file and is then used in an S-Function block.
2041 Simulink calls the functions in the C MEX file to obtain the above
2042 mentioned block attributes. In case of RPP blocks, no other
2043 functionality is present in the C MEX file.
2045 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2046 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2047 the C files as a reference.
2049 Every C file that will be used with the RPP library should begin with
2050 a comment in YAML\footnote{\url{http://yaml.org/},
2051 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2052 this block is used to automatically generate both printed and on-line
2053 documentation. Although this block is not mandatory, it is highly
2054 recommended, as it helps keeping the documentation consistent and
2057 The YAML documentation block may look like this:
2058 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2062 Name: Name Of The Block
2068 - { name: "Some Input Signal", type: "bool" }
2071 - { name: "Some Output Signal", type: "bool" }
2075 # Description and Help is in Markdown mark-up
2078 This is a stub of an example block.
2082 This block is a part of an example about how to create
2083 new Matlab Simulink blocks for RPP board.
2087 RPP API functions used:
2095 Following parts are obligatory and the block will not work without them. It starts with a
2096 definition of the block name and inclusion of a common source file:
2098 \begin{lstlisting}[language=c]
2099 #define S_FUNCTION_NAME sfunction_myblock
2103 To let Simulink know the type of the inputs, outputs and how many parameters
2104 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2106 \begin{lstlisting}[language=c]
2107 static void mdlInitializeSizes(SimStruct *S)
2109 /* The block will have no parameters. */
2110 if (!rppSetNumParams(S, 0)) {
2113 /* The block will have one input signal. */
2114 if (!ssSetNumInputPorts(S, 1)) {
2117 /* The input signal will be of type boolean */
2118 rppAddInputPort(S, 0, SS_BOOLEAN);
2119 /* The block will have one output signal */
2120 if (!ssSetNumOutputPorts(S, 1)) {
2123 /* The output signal will be of type boolean */
2124 rppAddOutputPort(S, 0, SS_BOOLEAN);
2126 rppSetStandardOptions(S);
2130 The C file may contain several other optional functions definitions for parameters check,
2131 run-time parameters definition and so on. For information about those functions refer the comments
2132 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2134 The minimal C file compilable into C MEX has to contain following
2135 macros to avoid linker error messages about some of the optional
2136 functions not being defined:
2137 \begin{lstlisting}[language=c]
2138 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2139 #define UNUSED_MDLCHECKPARAMETERS
2140 #define UNUSED_MDLOUTPUTS
2141 #define UNUSED_MDLTERMINATE
2144 Every C file should end by inclusion of a common trailer source file:
2146 \begin{lstlisting}[language=c]
2147 #include "trailer.c"
2150 \subsection{C MEX file compilation}
2151 \label{sec:c-mex-file}
2152 In order to compile the created C file, the development environment
2153 has to be configured first as described in
2154 Section~\ref{sec-matlab-simulink-usage}.
2156 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2157 into C MEX by running script
2158 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2159 prompt. If your block requires some special compiler options, edit the
2160 script and add a branch for your block.
2162 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2163 from Matlab command prompt.
2165 \subsection{TLC file creation}
2166 \label{sec:tlc-file-creation}
2167 The TLC file is a template used by the code generator to generate the
2168 C code for the RPP board. The TLC files are stored in
2169 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2170 same (except for the extension) as the names of the corresponding
2171 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2172 free to open any of the TLC files as a reference.
2174 TLC files for RPP blocks should contain a header:
2175 \begin{lstlisting}[language=c]
2176 %implements sfunction_myblock "C"
2177 %include "common.tlc"
2180 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:
2182 \item BlockTypeSetup
2183 \item BlockInstanceSetup
2188 For detailed description about each one of those functions, refer to
2189 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2190 some code may look like this:
2191 \begin{lstlisting}[language=c]
2192 %implements sfunction_myblock "C"
2193 %include "common.tlc"
2195 %function BlockTypeSetup(block, system) void
2196 %% Ensure required header files are included
2197 %<RppCommonBlockTypeSetup(block, system)>
2198 %<LibAddToCommonIncludes("rpp/sci.h")>
2201 %function Outputs(block, system) Output
2202 %if !SLibCodeGenForSim()
2203 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2204 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2206 %<out_signal> = !%<in_signal>;
2207 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2213 The above template causes the generated code to contain
2214 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2215 executed, its output will be the negation of its input and the value
2216 of the input signal will be printed to the serial line.
2218 \subsection{Creation of an S-Function block in the RPP block library}
2219 \label{sec:creation-an-s}
2220 User defined Simulink blocks can be included in the model as
2221 S-Function blocks. Follow this procedure to create a new block in the
2224 \item Create a new Simulink library by selecting
2225 \textsc{File$\rightarrow$New$\rightarrow$Library} and save it as
2226 \texttt{\repo\-/rpp/blocks/rpp\_$\langle$name$\rangle$.slx}.
2227 Alternatively, open an existing library.
2228 \item In case of opening an existing library, unlock it for editing by
2229 choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2230 \item Open a Simulink Library Browser
2231 (\textsc{View$\rightarrow$Library Browser}) open
2232 \textsc{Simulink$\rightarrow$User-Defined Functions} and drag the
2233 \textsc{S-Function} block into the newly created library.
2234 \item Double click on the just created \textsc{S-Function} block and
2235 fill in the \textsc{S-function name} field. Put there the name
2236 (without the extension) of the created C MEX S-Function, e.g.
2237 sfunction\_myblock. The result should like like in
2238 Figure~\ref{fig-simulink_s_fun_cfg}.
2239 \begin{figure}[h]\begin{center}
2241 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2242 \caption{Configuration dialog for user defined S-function.}
2243 \label{fig-simulink_s_fun_cfg}
2244 \end{center}\end{figure}
2245 \item If your block has some parameters, write their names (you can
2246 choose them arbitrarily) in the \textsc{S-function parameters}
2247 field, separated by commas. \label{item:1}
2248 \item Now you should see the new Simulink block with the right number
2249 of inputs and outputs.
2250 \item Optional: Every user-defined block can have a \emph{mask}, which
2251 provides some useful information about the name of the block,
2252 configuration dialog for parameters and names of the IO signals. The
2253 block can be used even without the mask, but it is not as user
2254 friendly as with proper mask. Right-click the block and select
2255 \textsc{Mask$\rightarrow$Create Mask...}. In the definition of
2256 parameters, use the same names as in step~\ref{item:1}. See
2257 \cite[Section ``Block Masks'']{mathworks13:simul_2013b} for more
2259 \item Save the library and run \texttt{rpp\_setup} (or just
2260 \texttt{rpp\_generate\_lib}) from Matlab command line to add the newly
2261 created block to RPP block library (\texttt{rpp\_lib.slx}).
2264 Now, you can start using the new block in Simulink models as described
2265 in Section~\ref{sec-crating-new-model}.
2268 \section{Demos reference}
2269 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2270 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2272 This demos library is used as a test suite for the Simulink RPP Block Library
2273 but they are also intended to show basic programs built using it. Because of
2274 this, the demos try to use more than one
2275 type of block and more than one block per block type.
2277 In the reference below you can find a complete description for each of the demos.
2279 \subsection{ADC demo}
2280 \begin{figure}[H]\begin{center}
2282 \includegraphics[scale=.45]{images/demo_adc.png}
2283 \caption{Example of the usage of the Analog Input blocks for RPP.}
2284 \end{center}\end{figure}
2286 \textbf{Description:}
2288 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2289 measures voltage on every available Analog Input and prints the values on the
2292 \subsection{Simple CAN demo}
2293 \begin{figure}[H]\begin{center}
2295 \includegraphics[scale=.45]{images/demo_simple_can.png}
2296 \caption{The simplest CAN demonstration.}
2297 \end{center}\end{figure}
2299 \textbf{Description:}
2301 The simplest possible usage of the CAN bus. This demo is above all designed for
2302 testing the CAN configuration and transmission.
2304 \subsection{CAN transmit}
2305 \begin{figure}[H]\begin{center}
2307 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2308 \caption{Example of the usage of the CAN blocks for RPP.}
2309 \end{center}\end{figure}
2311 \textbf{Description:}
2313 Demostrates how to use CAN Transmit blocks in order to:
2316 \item Send unpacked data with data type uint8, uint16 and uint32.
2317 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2318 \item Send a message as extended frame type to be received by CAN Receive
2319 configured to receive both, standard and extended frame types.
2322 Demostrates how to use CAN Receive blocks in order to:
2325 \item Receive unpacked data of data types uint8, uint16 and uint32.
2326 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2327 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2328 \item Use function-call mechanism to process received messages
2331 \subsection{Continuous time demo}
2332 \begin{figure}[H]\begin{center}
2334 \includegraphics[scale=.45]{images/demo_continuous.png}
2335 \caption{The demonstration of contiuous time.}
2336 \end{center}\end{figure}
2338 \textbf{Description:}
2340 This demo contains two integrators, which are running at continuous time. The main goal
2341 of this demo is to verify that the generated code is compilable and is working even when
2342 discrete and continuous time blocks are combined together.
2344 \subsection{Simulink Demo model}
2345 \begin{figure}[H]\begin{center}
2347 \includegraphics[scale=.45]{images/demo_board.png}
2348 \caption{Model of the complex demonstration of the boards peripherals.}
2349 \end{center}\end{figure}
2351 \textbf{Description:}
2353 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2354 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2355 rotates the light around the MCU in one direction. Every time the user presses the button
2356 on the HDK, the direction is switched.
2358 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2359 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2360 and the message 0xFFFFFFFF simulates the button press.
2362 Information about the state of the application are printed on the Serial Interface.
2364 \subsection{Echo char}
2365 \begin{figure}[H]\begin{center}
2367 \includegraphics[scale=.45]{images/demo_echo_char.png}
2368 \caption{Echo Character Simulink demo for RPP.}
2369 \end{center}\end{figure}
2371 \textbf{Description:}
2373 This demo will echo (print back) any character received through the Serial Communication
2374 Interface (115200-8-N-1).
2376 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2377 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2379 \subsection{GIO demo}
2380 \begin{figure}[H]\begin{center}
2382 \includegraphics[scale=.45]{images/demo_gio.png}
2383 \caption{Demonstration of DIN and DOUT blocks}
2384 \end{center}\end{figure}
2386 \textbf{Description:}
2388 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2389 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2390 on the Serial Interface with the same period.
2392 \subsection{Hello world}
2393 \begin{figure}[H]\begin{center}
2395 \includegraphics[scale=.45]{images/demo_hello_world.png}
2396 \caption{Hello World Simulink demo for RPP.}
2397 \end{center}\end{figure}
2399 \textbf{Description:}
2401 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2402 character per second. The output speed is driven by the Simulink model step which is set to one
2405 \subsection{Multi-rate single thread demo}
2406 \label{sec:mult-single-thre}
2408 \begin{figure}[H]\begin{center}
2410 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2411 \caption{Multi-rate singlet hread Simulink demo for RPP.}
2412 \end{center}\end{figure}
2414 \textbf{Description:}
2416 This demo will toggle LEDs on the Hercules Development Kit with
2417 different rate. This is implemented with multiple Simulink tasks, each
2418 running at different rate. In the generated code, these tasks are
2419 called from a singe thread and therefore no task can preempt another
2422 The state of each LED is printed to the Serial Communication Interface
2423 (115200-8-N-1) when toggled.
2426 \begin{tabular}{lll}
2427 \rowcolor[gray]{0.9}
2428 LED & pin & rate [s] \\
2429 1 & NHET1\_25 & 0.3 \\
2430 2 & NHET1\_05 & 0.5 \\
2431 3 & NHET1\_00 & 1.0 \\
2433 \captionof{table}{LEDs connection and rate}
2434 \label{tab:multirate_st_led_desc}
2438 \chapter{Command line testing tool}
2439 \label{chap-rpp-test-software}
2440 \section{Introduction}
2441 \label{sec-rpp-test-sw-intro}
2442 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2443 control of the RPP hardware. The test suite implements a command processor,
2444 which is listening for commands and prints some output related to the commands
2445 on the serial interface. The command processor is modular and each peripheral
2446 has its commands in a separate module.
2448 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2449 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2451 The application enables a command processor using the SCI at
2452 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2453 and prompt should look like:
2456 \ifx\tgtId\tgtIdTMSRPP
2458 Rapid Prototyping Platform v00.01-001
2459 Test Software version v0.2-261-gb6361ca
2465 Ti HDK \mcuname, FreeRTOS 7.0.2
2466 Test Software version eaton-0.1-beta-8-g91419f5
2467 CTU in Prague 10/2014
2472 Type in command help for a complete list of available command, or help command
2473 for a description of concrete command.
2475 \section{Compilation}
2476 \label{sec-rpp-test-sw-compilation}
2477 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.
2479 \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}.
2480 \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}.
2482 To build the Testing tool from Linux terminal run:
2483 \begin{lstlisting}[language=bash]
2488 or from Windows command line:
2490 \begin{lstlisting}[language=bash]
2492 "C:\ti\ccsv5\utils\bin\"gmake.exe
2495 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2499 \section{Commands description}
2501 This section contains the description of the available commands. The
2502 same description is also available in the program itself via the
2503 \texttt{help} command.
2505 \input{rpp-test-sw-cmds.tex}
2511 \textit{Analog to Digital Converter.} \newline{}
2512 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2513 digital number that represents the quantity's amplitude.
2516 \textit{Analog Input.} \newline{}
2517 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2520 \textit{Analog Output.} \newline{}
2521 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2523 \item[API] \textit{Application Programming Interface}
2526 \textit{Controller Area Network.} \newline{}
2527 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2528 communicate with each other within a vehicle without a host computer.
2529 In this project it is also used as mnemonic to refer to or something related to the CAN
2532 \item[CCS] \textit{Code Composer Studio} \\
2533 Eclipse-based IDE provided by Texas Instruments.
2536 \textit{Code Generation Tools.} \newline{}
2537 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2538 assemble, archive, among others. In this project is normally used as synonym for
2539 ``Texas Instruments ARM compiler and linker."
2542 \textit{Digital to Analog Converter.} \newline{}
2543 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2544 (current, voltage, or electric charge).
2547 \textit{Digital Input.} \newline{}
2548 Mnemonic to refer to or something related to the digital input hardware module.
2551 \textit{Engine Control Unit.} \newline{}
2552 A type of electronic control unit that controls a series of actuators on an internal combustion
2553 engine to ensure the optimum running.
2556 \textit{Ethernet.} \newline{}
2557 Mnemonic to refer to or something related to the Ethernet hardware module.
2560 \textit{FlexRay.} \newline{}
2561 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2563 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2567 \textit{General Purpose Input/Output.} \newline{}
2568 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2569 controlled (programmed) by the user at run time.
2572 \textit{H-Bridge.} \newline{}
2573 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2574 an electronic circuit that enables a voltage to be applied across a load in either direction.
2577 \textit{High-Power Output.} \newline{}
2578 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2579 output hardware module.
2582 \textit{Integrated Development Environment.} \newline{}
2583 An IDE is a Software application that provides comprehensive facilities to computer programmers
2584 for software development.
2587 \textit{Legacy Code Tool.} \newline{}
2588 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2592 \textit{Model-Based Design.} \newline{}
2593 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2594 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2597 \textit{Matlab Executable.} \newline{}
2598 Type of binary executable that can be called within Matlab. In this document the common term
2599 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2603 \textit{Pulse-width modulation.} \newline{}
2604 Technique for getting analog results with digital means. Digital control is used to create a
2605 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2606 in between full on and off by changing the portion of the time the signal spends on versus
2607 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2608 \textit{duty cycle}.
2610 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2611 developed platform, that includes both hardware and software.
2614 \textit{Serial Communication Interface.} \newline{}
2615 Serial Interface for communication through hardware's UART using communication standard RS-232.
2616 In this project it is also used as mnemonic to refer to or something related to the Serial
2617 Communication Interface hardware module.
2620 \textit{SD-Card.} \newline{}
2621 Mnemonic to refer to or something related to the SD-Card hardware module.
2624 \textit{SD-RAM.} \newline{}
2625 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2628 \textit{Target Language Compiler.} \newline{}
2629 Technology and language used to generate code in Matlab/Simulink.
2632 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2633 Hardware circuitry that translates data between parallel and serial forms.
2640 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2641 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2642 % LocalWords: IOs HDK TMDSRM