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87 % Supported targets - to be used with \ifx\tgtId\tgtIdXXX
88 \def\tgtIdTMSHDK{tms570\_hdk}
89 \def\tgtIdRMHDK{rm48\_hdk}
90 \def\tgtIdTMSRPP{tms570\_rpp}
91 \def\tgtIdHydCtr{tms570\_hydctr}
93 % Include target specific macros etc.
99 \newcommand{\HRule}{\rule{\linewidth}{0.5mm}}
104 % Upper part of the page
107 \includegraphics[width=0.35\textwidth]{images/cvut.pdf}\\[1cm]
108 \textsc{\LARGE Czech Technical University in Prague}\\[1.5cm]
114 {\huge \bfseries Simulink code generation target for Texas~Instruments
115 \tgname{} platform\par}
117 {\Large Version for \tgtBoardName{} board\par}
124 Carlos \textsc{Jenkins}\\
125 Michal \textsc{Horn}\\
126 Michal \textsc{Sojka}\\[\baselineskip]
139 \section*{Revision history}
141 \noindent\begin{tabularx}{\linewidth}{|l|l|l|X|}
142 \rowcolor[gray]{0.9}\hline
143 Revision & Date & Author(s) & Comments \\ \hline
145 0.1 beta & 2014-12-04 & Sojka, Horn & Initial version \\ \hline
147 0.2 & 2015-02-16 & Sojka, Horn & Improvements, clarifications,
150 0.3 & 2015-03-31 & Sojka, Horn & Added sections
151 \ref{sec-changing-os}, \ref{sec:adding-new-funct} and
152 \ref{sec:mult-single-thre}. Minor
155 0.4 & 2015-04-30 & Sojka, Horn & Added support for TMS570 HDK
156 platform. All RPP software
159 recompilation. \\ \hline
161 0.5 beta & 2015-07-03 & Sojka & Updated section \ref{sec:adding-new-funct}.
162 Added support for Eaton Hydraulics
163 Controller board (TMS570LS1227).
166 0.5.5 & 2015-08-27 & Sojka, Horn & rpp-lib: HAL merged into DRV
167 layer, FreeRTOS upgraded to version 8.2.2.
170 0.6 & 2015-09-03 & Sojka & Multi-rate models can be
171 compiled in multi-tasking mode
173 sec.~\ref{sec-singlet-multit-modes}
174 and \ref{sec:mult-multi-thre}).
175 Added board init block (sec.
176 \ref{sec:block:sfunction_hydctr_init.c}).
177 Documented halcogen directory in
178 sec.~\ref{sec-rpp-lib-subdirectory-content-description}.
181 0.6a & 2015-09-11 & Sojka & Removed reference of
182 Simulink blocks that are not
183 part of Eaton distribution.
186 0.7 & 2015-10-04 & Sojka & Simulink GIO blocks
188 \ref{sec:block:sfunction_gio_in.c},
189 \ref{sec:block:sfunction_gio_out.c})
190 have different parameters and
191 support certain SPI5 pins on
192 tms570\_hydctr board. Parameters
193 of old GIO blocks are
194 automatically transformed to the
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226 %\addtolength{\parskip}{\baselineskip} % Paragraph spacing
228 \chapter{Introduction}
229 \label{chap-introduction}
231 This text documents software part of Rapid Prototyping Platform (RPP)
232 project for Texas Instruments \tgname{} safety microcontroller
233 developed by Czech Technical University in Prague (CTU). The software
234 consists of code generation target for Simulink Embedded Coder, a
235 low-level run-time C library and a tool for interactive testing of
236 hardware and software functionality.
238 Originally, the RPP project was created for a custom TMS570-based board
239 and the port to other platforms such as RM48 HDK and TMS570 HDK
240 development kits. Porting to other platforms was done under a contract
241 from Eaton Corporation.
243 The document contains step-by-step instructions for installation of
244 development tools, information about Simulink Coder configuration,
245 describes how to create new models as well as how to download the
246 resulting firmware to the hardware. It can also be used as a reference
247 for the testing tool, Matlab Simulink blocks and RPP Matlab Simulink
248 Code generator. Additionally, an overall description of the used
249 hardware platform and the architecture of included software is
253 \label{sec-background}
255 In this document, the term \emph{Rapid Prototyping Platform} denotes a
256 hardware board and accompanying software. The hardware board is
257 \tgtBoardName{} based on ARM Cortex R4 safety microcontroller
258 \mcuname{}. This MCU contains several protective mechanisms (two cores
259 in lockstep, error correction mechanisms for SRAM and Flash memory,
260 voltage monitoring, etc.) to fulfill the requirements for safety
261 critical applications. See~\cite{\tgrefman} for details.
263 In order to develop non-trivial applications for the RPP, an operating
264 system is necessary. The RPP is based on FreeRTOS -- a simple
265 opensource real-time operating system kernel. The FreeRTOS provides an
266 API for creating and managing and scheduling multiple tasks, memory
267 manager, semaphores, queues, mutexes, timers and a few of other
268 features which can be used in the applications.
269 See~\cite{usingthefreertos2009} for more details.
271 Even with the operating system it is quite hard and non-intuitive to
272 manipulate the hardware directly. That is the point when abstraction
273 comes into the play. The RPP software is made of several layers
274 implementing, from the bottom to the top, low-level device drivers,
275 hardware abstraction for common functionality on different hardware
276 and an API which is easy to use in applications. The operating system
277 and the basic software layers, can be compiled as a library and easily
278 used in any project. More details about the library can be found in
279 Chapter~\ref{chap-c-support-library} and in~\cite{michalhorn2013}.
281 Because human beings make mistakes and in safety critical applications
282 any mistake can cause damage, loos of money or in the worst case even
283 death of other people, the area for making mistakes has to be as small
284 as possible. An approach called Model-based development
285 \cite{modelbasedwiki2013} has been introduced to reduce the
286 probability of making mistakes. In model-based development, the
287 applications are designed at higher level from models and the
288 functionality of the models can be simulated in a computer before the
289 final application/hardware is finished. This allows to discover
290 potential errors earlier in the development process.
292 One commonly used tool-chain for model-based development is
293 Matlab/Simulink. In Simulink the application is developed as a model
294 made of interconnected blocks. Every block implements some
295 functionality. For example one block reads a value from an
296 analog-to-digital converter and provides the value as an input to
297 another block. This block can implement some clever algorithm and its
298 output is passed to another block, which sends the computed value as a
299 message over CAN bus to some other MCU. Such a model can be simulated
300 and tested even before the real hardware is available by replacing the
301 input and output blocks with simulated ones. Once the hardware is
302 ready, C code is automatically generated from the model by a Simulink
303 Coder. The code is then compiled by the MCU compatible compiler and
304 downloaded to the MCU Flash memory on the device. Because every block
305 and code generated from the block has to pass a series of tests during
306 their development, the area for making mistakes during the application
307 development has been significantly reduced and developers can focus on
308 the application instead of the hardware and control software
309 implementation. More information about code generation can be found in
310 Chapter \ref{chap-simulink-coder-target}. For information about Matlab
311 Simulink, Embedded Coder and Simulink Coder, refer to
312 \cite{embeddedcoderreference2013, ebmeddedcoderusersguide2013,
313 simulinkcoderreference2013, targetlanguagecompiler2013,
314 simulinkcoderusersguide2013, simulinkdevelopingsfunctions2013}.
316 \section{Hardware description}
317 \label{sec-hardware-description}
321 \section{Software architecture}
322 \label{sec-software-architecture}
324 The core of the RPP software is the so called RPP Library. This
325 library is conceptualy structured into 5 layers, depicted in
326 Figure~\ref{fig-layers}. The architecture design was driven by the
327 following guidelines:
330 \item Top-down dependency only. No lower layer depends on anything from
332 % \item 1-1 layer dependency only. The top layer depends
333 % exclusively on the bottom layer, not on any lower level layer (except for a
334 % couple of exceptions).
335 \item Each layer should provide a unified layer interface
336 (\texttt{rpp.h}, \texttt{drv.h}, \texttt {hal.h}, \texttt{sys.h} and
337 \texttt{os.h}), so that higher layers depend on the lower layer's interface
338 and not on individual elements from that layer.
344 \includegraphics[width=250px]{images/layers.pdf}
345 \caption{The RPP library layers.}
350 As a consequence of this division the source code files and interface files are
351 placed in private directories like \texttt{drv/din.h}. With this organization
352 user applications only needs to include the top layer interface files (for
353 example \texttt{rpp/rpp\_can.h}) to be able to use the selected library API.
355 The rest of the section provides basic description of each layer.
357 \subsection{Operating System layer}
358 \label{sec-operating-system-layer}
359 This is an interchangeable operating system (OS) layer containing the
360 FreeRTOS source files. The system can be easily replaced by another
361 version. For example it is possible to compile the RPP library for
362 Linux (using POSIX version of the FreeRTOS), which can be desirable
363 for some testing. The source files can be found in the
364 \texttt{$\langle$rpp\_lib$\rangle$/os} folder.
366 The following FreeRTOS versions are distributed:
368 \item[6.0.4\_posix] POSIX version, usable for compilation of the
369 library for Linux system.
370 \item[8.2.2] Currently used FreeRTOS version. This is the version
371 downloaded from FreeRTOS.org with changes in directory structure.
372 Namely, include files have added the \emph{os/} prefix and platform
373 dependent code (portable) for \tgname{} is copied to the same
374 directory as platform independent code.
377 \subsection{System Layer}
378 \label{sec-system-layer}
379 This layer contains system files with data types definitions, clock definitions,
380 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
381 code for controlling some of the MCU peripherals. The source files can be found
382 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
383 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
386 Large part of this layer was generated by the HalCoGen tool (see
387 Section~\ref{sec-halcogen}). Some files were then modified by hand.
389 \subsection{Drivers layer}
390 \label{sec-drivers-layer}
391 The Drivers layer contains code for controlling the RPP peripherals.
392 Typically, it contains code implementing IRQ handling, software
393 queues, management threads, etc. The layer benefits from the lower
394 layer thus it is not too low level, but still there are some
395 peripherals like ADC, which need some special procedure for
396 initialization and running, that would not be very intuitive for the
399 The source files can be found in
400 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
401 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
403 \subsection{RPP Layer}
404 \label{sec-rpp-layer}
405 The RPP Layer is the highest layer of the library. It provides an easy
406 to use set of functions for every peripheral and requires only basic
407 knowledge about them. For example, to use the ADC, the user can just
408 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
409 Driver layer functions to initialize the hardware and software.
411 The source files can be found in
412 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
413 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
415 \section{Document structure}
416 \label{sec-document-structure}
417 The structure of this document is as follows:
418 Chapter~\ref{chap-getting-started} gets you started using the RPP
419 software. Chapter~\ref{chap-c-support-library} describes the RPP
420 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
421 code generation target and finally
422 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
423 testing of the RPP functionality.
425 \chapter{Getting started}
426 \label{chap-getting-started}
428 \section{Software requirements}
429 \label{sec-software-requirements}
430 The RPP software stack can be used on Windows and Linux platforms. The
431 following subsections mention the recommended versions of the required
432 software tools/packages.
434 \subsection{Linux environment}
435 \label{sec-linux-environment}
437 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
439 \item Kernel version 3.11.0-12.
440 \item GCC version 4.8.1
441 \item GtkTerm 0.99.7-rc1
442 \item TI Code Composer Studio 5.5.0.00077
443 \item Matlab 2013b 64b with Embedded Coder
444 \item HalCoGen 4.00 (optional)
445 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
446 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
447 \item Git 1.7.10.4 (optional)
450 \subsection{Windows environment}
451 \label{sec-windows-environment}
453 \item Windows 7 Enterprise 64b Service Pack 1.
454 \item Microsoft Windows SDK v7.1
455 \item Bray Terminal v1.9b
456 \item TI Code Composer Studio 5.5.0.00077
457 \item Matlab 2013b 64b with Embedded Coder
458 \item HalCoGen 4.00 (optional)
459 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
460 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
461 \item Git 1.9.4.msysgit.2 (optional)
464 \section{Software tools}
465 \label{sec-software-and-tools}
467 This section covers tool which are needed or recommended for work with
470 \subsection{TI Code Composer Studio}
472 Code Composer Studio (CCS) is the official Integrated Development Environment
473 (IDE) for developing applications for Texas Instruments embedded processors. CCS
474 is multiplatform software based on
475 Eclipse open source IDE.
477 CCS includes Texas Instruments Code Generation Tools (CGT)
478 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
479 (compiler, linker, etc). Simulink code generation target requires the
480 CGT to be available in the system, and thus, even if no library
481 development will be done or the IDE is not going to be used CCS is
484 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
485 for CGT archiver in \cite{armassemblylanguagetools2012}.
487 \subsubsection{Installation on Linux}
488 \label{sec-installation-on-linux}
489 Download CCS for Linux from:\\
490 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
492 Once downloaded, add executable permission to the installation file
493 and launch the installation by executing it. Installation must be done
494 by the root user in order to install a driver set.
496 \lstset{language=bash}
498 chmod +x ccs_setup_5.5.0.00077.bin
499 sudo ./ccs_setup_5.5.0.00077.bin
502 After installation the application can be executed with:
504 \lstset{language=bash}
506 cd <ccs>/ccsv5/eclipse/
510 The first launch on 64bits systems might fail. This can happen because CCS5 is
511 a 32 bit application and thus requires 32 bit libraries. They can be
514 \lstset{language=bash}
516 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
519 If the application crashes with a segmentation fault edit file:
521 \lstset{language=bash}
523 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
526 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
528 \subsubsection{Installation on Windows}
529 \label{sec-installation-on-windows}
530 Installation for Windows is more straightforward than the installation
531 procedure for Linux. Download CCS for Windows from:\\
532 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
534 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
536 \subsubsection{First launch}
537 \label{sec-first-launch}
538 If no other licence is available, choose ``FREE License -- for use
539 with XDS100 JTAG Emulators'' from the licensing options. Code download
540 for the board uses the XDS100 hardware.
542 \subsection{Matlab/Simulink}
543 \label{sec-matlab-simulink}
544 Matlab Simulink is a set of tools, runtime environment and development
545 environment for Model--Based \cite{modelbasedwiki2013} applications development,
546 simulations and code generation for target platforms. Supported Matlab Simulink
547 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
548 necessary to be able to generate code from Simulink models, containing RPP blocks.
550 \subsection{HalCoGen}
552 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.
554 The tool is available for Windows at
556 \url{http://www.ti.com/tool/halcogen}
559 The HalCoGen has been used in early development stage of the RPP
560 project to generate the base code for some of the peripheral. The
561 trend is to not to use the HalCoGen any more, because the generated
562 code is not reliable enough for safety critical applications. Anyway it is
563 sometimes helpful to use it as a reference.
565 The HalCoGen is distributed for Windows only, but can be run on Linux
566 under Wine (tested with Wine version 1.6.2).
568 \subsection{GtkTerm and Bray Terminal}
569 \label{sec-gtkterm-bray-terminal}
570 Most of the interaction with the board is done through a RS-232 serial
571 connection. The terminal software used for communication is called GtkTerm for
572 Linux and Bray terminal for Windows.
574 To install GtkTerm execute:
576 \lstset{language=bash}
578 sudo apt-get install gtkterm
581 The Bray Terminal does not require any installation and the executable file is
583 \url{https://sites.google.com/site/terminalbpp/}
585 \subsection{C Compiler}
586 \label{sec-c-compiler}
587 A C language compiler has to be available on the development system to be able to
588 compile Matlab Simulink blocks S-functions.
590 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
593 \lstset{language=bash}
595 sudo apt-get install gcc
598 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
599 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
601 \section{Project installation}
602 \label{sec-project-installation}
603 The RPP software is distributed in three packages and a standalone pdf
604 file containing this documentation. Every package is named like
605 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
609 \item[rpp-simulink] Contains the source code of Matlab Simulink
610 blocks, demo models and scripts for downloading the generated
611 firmware to the target board from Matlab/Simulink. Details can be
612 found in Chapter \ref{chap-simulink-coder-target}.
614 The package also contains the binary of the RPP Library and all its
615 headers and other files necessary for building and downloading
617 \item[rpp-test-sw] Contains an application for interactive testing and
618 control of the \tgtBoardName{} board over the serial interface. Details can be
619 found in Chapter~\ref{chap-rpp-test-software}.
621 The package also contains the binary of the RPP Library and all
622 headers and other files necessary for building and downloading the
624 \item[rpp-lib] Contains the source code of the RPP library, described
625 in Chapter \ref{chap-c-support-library}. If you want to make any
626 changes in the drivers or the RPP API, this library has to be
627 compiled and linked with applications in the other two packages.
628 Library compilation is described in Section \ref{sec-compilation}.
631 The following sections describe how to start working with individual
634 \ifx\tgtId\tgtIdTMSRPP
635 \subsection{Getting sources from git repository}
637 git clone --recursive git@rtime.felk.cvut.cz:jenkicar/rpp-simulink
639 If you get release packages, follow the instructions in the next sections.
642 \subsection{rpp-simulink}
643 \label{sec-rpp-simulink-installation}
644 This section describes how to install the rpp-simulink project, which
645 is needed to try the demo models or to build your own models that use
649 \item Unzip the \texttt{rpp-simulink-version.zip} file.
650 \item Follow the procedure from Section
651 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
652 Simulink for the RPP project.
653 \item Follow the procedure from Section \ref{sec-crating-new-model}
654 for instructions about creating your own model which will use the
655 RPP Simulink blocks or follow the instructions in
656 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
659 \subsection{rpp-test-sw}
660 \label{sec-test-sw-installation}
661 This section describes how to install and run the application that
662 allows you to interactively control the RPP hardware. This can be
663 useful, for example, to test your modifications of the RPP library.
666 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
667 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
668 \item Import the \texttt{rpp-test-sw} project as described in
669 Section \ref{sec-openning-of-existing-project}.
670 \item Right click on the \texttt{rpp-test-sw} project in the
671 \textsc{Project Explorer} and select \textsc{Build Project}.
672 \item Follow the instructions in
673 Section~\ref{sec-running-software-on-hw} to download, debug and
674 run the software on the target hardware.
678 \label{sec-rpp-lib-installation}
680 This section describes how to open the rpp-lib project in Code
681 Composer Studio and how to use the resulting static library in an
682 application. This is only necessary if you need to modify the library
686 \item Unzip the \texttt{rpp-lib-version.zip} file.
687 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
688 \item Import the rpp-lib project from directory
689 \texttt{rpp-lib-XXX/build/\tgtId} as described in
690 Section~\ref{sec-openning-of-existing-project}.
691 \item Compile the static library by selecting \textsc{Project
692 $\rightarrow$ Build Project} (see Section
693 \ref{sec-compilation} for more information). The compiled
694 library \texttt{rpp-lib.lib} and file
695 \texttt{Makefile.config} will appear in the
696 \texttt{rpp-lib-XXX} directory.
697 \item Either copy the compiled library and the content of the
698 \texttt{rpp/include} directory to the application, where you
699 want to use it or use the library in place, as described in
700 Section~\ref{sec:creating-new-project}.
702 \item In the rpp-simulink application the library is located in
703 the \texttt{rpp/lib} folder.
704 \item In the rpp-test-sw application the library is located in
705 the \texttt{rpp-lib} folder.
709 \section{Code Composer Studio usage}
710 \label{sec-code-composerpstudio-usage}
712 \subsection{Opening an existing project}
713 \label{sec-openning-of-existing-project}
714 The procedure for opening a project is similar to opening a project in
715 the standard Eclipse IDE.
718 \item Launch Code Composer Studio
719 \item Select \textsc{File$\rightarrow$Import}
720 \item In the dialog window select \textsc{Code Composer
721 Studio$\rightarrow$Existing CCS Eclipse project} as an import
722 source (see Figure \ref{fig-import-project}).
723 \item In the next dialog window click on \textsc{Browse} button
724 and find the root directory of the project.
725 \item Select the requested project in the \textsc{Discovered
726 project} section so that the result looks like in Figure
727 \ref{fig-select-project}.
728 \item Click the \textsc{Finish} button.
731 \begin{figure}[H]\begin{center}
732 \includegraphics[width=350px]{images/import_project.png}
733 \caption{Import project dialog}
734 \label{fig-import-project}
735 \end{center}\end{figure}
737 \begin{figure}[H]\begin{center}
738 \includegraphics[width=350px]{images/select_project.png}
739 \caption{Select project dialog}
740 \label{fig-select-project}
741 \end{center}\end{figure}
744 \subsection{Creating new project}
745 \label{sec:creating-new-project}
746 Follow these steps to create an application for \tgname{} MCU compiled with
750 \item Create a new empty CCS project. Select \mcuname{} device, XDS100v2
751 connection and set Linker command file to
752 \texttt{rpp-lib/build/\tgtId/\ldscriptname}.
754 \noindent\includegraphics[scale=0.45]{images/base_1.png}
756 \item In \textsc{Project Explorer}, create normal folders
757 named \texttt{include} and \texttt{src}.
759 \item If you use Git version control system, add \texttt{.gitignore}
760 file with the following content to the root of that project:
769 \item In project \textsc{Properties}, add new variable of type
770 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
774 \noindent\includegraphics[scale=.45]{images/base_2.png}
776 \item Configure the compiler \#include search path to contain
777 project's \texttt{include} directory, \penalty-100
778 \texttt{\$\{RPP\_LIB\_ROOT\}/os/8.2.2/include} and
779 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
781 \includegraphics[scale=.43]{images/base_5.png}
784 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
785 linked libraries before the runtime support library
786 (\texttt{\tgtRtlib}).
788 \noindent\includegraphics[scale=.45]{images/base_3.png}
790 \item Configure the compiler to allow GCC extensions.
792 \noindent\includegraphics[scale=.45]{images/base_6.png}
795 \item Create \texttt{main.c} file with the following content:
796 \begin{lstlisting}[language=C]
802 rpp_sci_printf("Hello world\n");
803 vTaskStartScheduler();
804 return 0; /* not reached */
807 void vApplicationMallocFailedHook()
809 void vApplicationStackOverflowHook()
813 \item Compile the application by e.g. \textsc{Project $\rightarrow$
815 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
816 application will be downloaded to the processor and run. A
817 breakpoint is automatically placed at \texttt{main()} entry. To
818 continue executing the application select \textsc{Run} $\rightarrow$
820 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
821 that the linker script selected in step 1 is not excluded from the build.
822 You can do this by right clicking the \texttt{\ldscriptname} file
823 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
824 item. The Code Composer Studio sometimes automaticaly excludes this file from
825 the build process when creating a new project.
827 % \item If not already created for another project, create new target
828 % configuration. Select \textsc{Windows $\rightarrow$ Show View
829 % $\rightarrow$ Target Configurations}. In the shown window, click
830 % on \textsc{New Target Configuration} icon and configure XDS100v2
831 % connection and \mcuname{} device as shown below. Click \textsc{Save},
832 % connect your board and click \textsc{Test Connection}.
835 % \includegraphics[width=\linewidth]{images/target_conf.png}
838 \item Optionally, you can change debugger configuration by selecting
839 \textsc{Run $\rightarrow$ Debug Configurations}. In the
840 \textsc{Target} tab, you can configure not to break at \texttt{main}
841 or not to erase the whole flash, but necessary sectors only (see the
844 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
849 %% Comment this out for Eaton
850 % \subsubsection{Steps to configure new POSIX application:}
851 % Such an application can be used to test certain FreeRTOS features on
852 % Linux and can be compiled with a native GCC compiler.
854 % \begin{compactenum}
855 % \item Create a new managed C project that uses Linux GCC toolchain.
856 % \item Create a source folder \texttt{src}. Link all files from original
857 % CCS application to this folder.
858 % \item Create a normal folder \texttt{include}. Create a folder
859 % \texttt{rpp} inside of it.
860 % \item Add common \texttt{.gitignore} to the root of that project:
867 % \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
868 % repository branch root.\newline{}
869 % \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
870 % \item Configure compiler to include local includes, CCS application
871 % includes, OS includes for POSIX and RPP includes, in that order.\newline{}
872 % \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
874 % \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
875 % \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
876 % \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
879 \subsubsection{Content of the application}
882 \item Include RPP library header file.
883 \lstset{language=c++}
888 If you want to reduce the size of the final application, you can
889 include only the headers of the needed modules. In that case, you
890 need to include two additional headers: \texttt{base.h} and, in case
891 when SCI is used for printing, \texttt{rpp/sci.h}.
893 #include "rpp/hbr.h" /* We want to use H-bridge */
894 #include <base.h> /* This is the necessary base header file of the rpp library. */
895 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
899 \item Create one or as many FreeRTOS task function definitions as
900 required. Those tasks can use functions from the RPP library. Beware
901 that currently not all RPP functions are
902 reentrant\footnote{Determining which functions are not reentrant and
903 marking them as such (or making them reentrant) is planned as
904 future work.}. \lstset{language=c++}
906 void my_task(void* p)
908 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
909 portTickType last_wake_time = xTaskGetTickCount();
911 /* Wait until next step */
912 vTaskDelayUntil(&last_wake_time, freq_ticks);
913 rpp_sci_printf((const char*)"Hello RPP.\r\n");
918 \item Create the main function that will:
920 \item Initialize the RPP board. If you have included only selected
921 modules in step 1, initialize only those modules by calling their init
923 example \texttt{rpp\_hbr\_init\(\)}.
924 \item Spawn the tasks the application requires. Refer to FreeRTOS API
926 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
928 \item Handle error when the FreeRTOS scheduler cannot be started.
930 \lstset{language=c++}
934 /* In case whole library is included: */
935 /* Initialize RPP board */
937 /* In case only selected modules are included: */
940 /* Initialize sci for printf */
942 /* Enable interrups */
946 if (xTaskCreate(my_task, (const signed char*)"my_task",
947 512, NULL, 0, NULL) != pdPASS) {
949 rpp_sci_printf((const char*)
950 "ERROR: Cannot spawn control task.\r\n"
956 /* Start the FreeRTOS Scheduler */
957 vTaskStartScheduler();
959 /* Catch scheduler start error */
961 rpp_sci_printf((const char*)
962 "ERROR: Problem allocating memory for idle task.\r\n"
970 \item Create hook functions for FreeRTOS:
972 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
974 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
977 \lstset{language=c++}
979 #if configUSE_MALLOC_FAILED_HOOK == 1
981 * FreeRTOS malloc() failed hook.
983 void vApplicationMallocFailedHook(void) {
985 rpp_sci_printf((const char*)
986 "ERROR: manual memory allocation failed.\r\n"
993 #if configCHECK_FOR_STACK_OVERFLOW > 0
995 * FreeRTOS stack overflow hook.
997 void vApplicationStackOverflowHook(xTaskHandle xTask,
998 signed portCHAR *pcTaskName) {
1000 rpp_sci_printf((const char*)
1001 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
1013 \subsection{Downloading and running the software}
1014 \label{sec-running-software-on-hw}
1015 \subsubsection{Code Composer Studio Project}
1016 \label{sec-ccs-run-project}
1017 When an application is distributed as a CCS project, you have to open the
1018 project in the CCS as described in the Section
1019 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
1020 can be easily downloaded to the target hardware with the following procedure:
1023 \ifx\tgtId\tgtIdTMSRPP
1024 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG port.
1025 \item Connect a USB cable to the XDS100v2 USB emulator and the development computer.
1027 \item Connect the USB cable to the \tgtBoardName{} board.
1029 \item Plug in the power supply.
1030 \item In the Code Composer Studio click on the
1031 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
1032 the download process will start. The Code Composer Studio will switch into the debug
1033 perspective, when the download is finished.
1034 \item Run the program by clicking on the \textsc{Run} button, with the
1038 \subsubsection{Binary File}
1039 \label{sec-binary-file}
1040 If the application is distributed as a binary file, without source code and CCS
1041 project files, you can download and run just the binary file by creating a new
1042 empty CCS project and configuring the debug session according to the following
1046 \item In Code Composer Studio click on
1047 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1048 \item In the dialog window, type in a project name, for example
1049 myBinaryLoad, Select \textsc{Device
1050 variant} (ARM, Cortex R, \mcuname, Texas Instruments XDS100v2 USB Emulator)
1051 and select project template to \textsc{Empty Project}. The filled dialog should
1052 look like in Figure~\ref{fig-new-empty-project}
1053 \item Click the \textsc{Finish} button and a new empty project will
1055 \item In the \textsc{Project Explorer} right-click on the project and
1056 select \textsc{Debug as$\rightarrow$Debug configurations}.
1057 \item Click \textsc{New launch configuration} button
1058 \item Rename the New\_configuration to, for example, myConfiguration.
1059 \item Select configuration target file by clicking the \textsc{File
1060 System} button, finding and selecting the \texttt{rpp-lib-XXX/build/\tgtId/\tgconfigfilename} file. The result
1061 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1062 \item In the \textsc{program} pane select the binary file you want to
1063 download to the board. Click on the \textsc{File System} button,
1064 find and select the binary file. Try, for example
1065 \texttt{rpp-test-sw.out}. The result should look like in
1066 Figure~\ref{fig-debug-conf-program-diag}.
1067 \item You may also tune the target configuration as described in
1068 Section \ref{sec-target-configuration}.
1069 \item Finish the configuration by clicking the \textsc{Apply} button
1070 and download the code by clicking the \textsc{Debug} button. You can
1071 later invoke the download also from the
1072 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1073 create more Debug configurations and CCS empty projects as you can
1074 easily change the binary file in the Debug configuration to load a
1075 different binary file.
1078 \begin{figure}[H]\begin{center}
1079 \includegraphics[scale=.45]{images/new_empty_project.png}
1080 \caption{New empty project dialog}
1081 \label{fig-new-empty-project}
1082 \end{center}\end{figure}
1084 \begin{figure}[H]\begin{center}
1085 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1086 \caption{Debug Configuration Main dialog}
1087 \label{fig-debug-conf-main-diag}
1088 \end{center}\end{figure}
1090 \subsection{Target configuration}
1091 \label{sec-target-configuration}
1092 Default target configuration erases the whole Flash memory, before
1093 downloading the code. This takes long time and in most cases it is
1094 not necessary. You may disable this feature by the following procedure:
1096 \item Right click on the project name in the \textsc{Project Browser}
1097 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1098 \item In the dialog window select \textsc{Target} pane.
1099 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1100 \textsc{Necessary sectors only}.
1101 \item Save the configuration by clicking the \textsc{Apply} button
1102 and close the dialog.
1105 \begin{figure}[H]\begin{center}
1106 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1107 \caption{Configuration Program dialog}
1108 \label{fig-debug-conf-program-diag}
1109 \end{center}\end{figure}
1111 \section{Matlab Simulink usage}
1112 \label{sec-matlab-simulink-usage}
1113 This section describes the basics of working with the RPP code
1114 generation target for Simulink. For a more detailed description of the
1115 code generation target refer to
1116 Chapter~\ref{chap-simulink-coder-target}.
1118 \subsection{Configuring Simulink for RPP}
1119 \label{sec-configuration-simulink-for-rpp}
1120 Before any work or experiments with the RPP blocks and models, the RPP
1121 target has to be configured to be able to find the ARM cross-compiler,
1122 native C compiler and some other necessary files. Also the S-Functions
1123 of the blocks have to be compiled by the mex tool.
1125 \item Download and install Code Composer Studio CCS (see
1126 Section~\ref{sec-ti-ccs}).
1127 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1128 \item On Windows you have to tell the \texttt{mex} which C compiler to
1129 use. In the Matlab command window run the \texttt{mex -setup}
1130 command and select the native C compiler.
1132 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1135 Welcome to mex -setup. This utility will help you set up
1136 a default compiler. For a list of supported compilers, see
1137 http://www.mathworks.com/support/compilers/R2013b/win64.html
1139 Please choose your compiler for building MEX-files:
1141 Would you like mex to locate installed compilers [y]/n? y
1144 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1150 Please verify your choices:
1152 Compiler: Microsoft Software Development Kit (SDK) 7.1
1153 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1155 Are these correct [y]/n? y
1157 ***************************************************************************
1158 Warning: MEX-files generated using Microsoft Windows Software Development
1159 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1160 libraries be available on the computer they are run on.
1161 If you plan to redistribute your MEX-files to other MATLAB
1162 users, be sure that they have the run-time libraries.
1163 ***************************************************************************
1166 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1167 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1171 **************************************************************************
1172 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1173 variables with more than 2^32-1 elements. In the near future
1174 you will be required to update your code to utilize the new
1175 API. You can find more information about this at:
1176 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1177 Building with the -largeArrayDims option enables the new API.
1178 **************************************************************************
1181 \item Configure the RPP code generation target:
1183 Open Matlab and in the command window run:
1185 \lstset{language=Matlab}
1187 cd <rpp-simulink>/rpp/rpp/
1191 This will launch the RPP setup script. This script will ask the user to provide
1192 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1193 binary is located), normally:
1196 <ccs>/tools/compiler/arm_5.X.X/
1199 Then Matlab path will be updated and block S-Functions will be built.
1201 \item Create new model or load a demo:
1203 Demos are located in \texttt{\repo/rpp/demos}. Creation of new
1204 models is described in Section~\ref{sec-crating-new-model} below.
1208 \subsection{Working with demo models}
1209 \label{sec-openning-demo-models}
1210 The demo models are available from the directory
1211 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1212 for downloading to the RPP board open them in Matlab. Use either the
1213 GUI or the following commands:
1215 \begin{lstlisting}[language=Matlab]
1216 cd <rpp-simulink>/rpp/demos
1217 open cantransmit.slx
1220 The same procedure can be used to open any other models. To build the
1221 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1222 Model}. This will generate the C code and build the binary firmware
1223 for the RPP board. To run the model on the target hardware see
1224 Section~\ref{sec-running-model-on-hw}.
1226 \subsection{Creating new model}
1227 \label{sec-crating-new-model}
1229 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1230 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1231 \item The new Simulink model needs to be configured in the following way:
1233 \item Solver (Figure \ref{fig-solver}):
1235 \item Solver type: \emph{Fixed-step}
1236 \item Solver: \emph{discrete}
1237 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1239 \item Tasking mode -- choose between the following:
1241 \item \textit{Auto} selects SingleTasking modes for
1242 single-rate model or MultiTasking mode for multi-rate
1243 models. See Section \ref{sec-singlet-multit-modes}
1244 \item \textit{SingleTasking} selects SingleTasking mode. See
1245 Section \ref{sec-singlet-mode} for details.
1246 \item \textit{MultiTasking} select MultiTasking mode. In
1247 this mode \textit{Higher priority value indicates higher
1248 task priority} should be checked. See Section
1249 \ref{sec-multit-mode} for details.
1254 \includegraphics[scale=.45]{images/simulink_solver.png}
1255 \caption{Solver settings}
1259 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1260 % \begin{compactitem}
1261 % \item Disable warning ``Source block specifies -1 sampling
1262 % time''. It's ok for the source blocks to run once per tick.
1265 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1266 % \caption{Sample Time settings}
1267 % \label{fig-sample-time-settings}
1270 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1272 \item Set ``System target file'' to \texttt{rpp.tlc}.
1275 \includegraphics[scale=.45]{images/simulink_code.png}
1276 \caption{Code Generation settings}
1277 \label{fig-code-gen-settings}
1281 \item Once the model is configured, you can open the Library Browser
1282 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1283 blocks to create the model. The RPP-specific blocks are located in
1284 the RPP Block Library.
1285 \item From Matlab command window change the current directory to where
1286 you want your generated code to appear, e.g.:
1287 \begin{lstlisting}[language=Matlab]
1290 The code will be generated in a subdirectory named
1291 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1293 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1294 Code $\rightarrow$ Build Model}.
1297 To run the model on the \tgtBoardName{} board continue with Section
1298 \ref{sec-running-model-on-hw}.
1300 \subsection{Running models on the RPP board}
1301 \label{sec-running-model-on-hw}
1302 To run the model on the \tgtBoardName{} hardware you have to enable the download
1303 feature and build the model by following this procedure:
1305 \item Open the model you want to run (see
1306 Section~\ref{sec-openning-demo-models} for example with demo
1308 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1310 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1311 check the \textsc{Download compiled binary to RPP} checkbox. Click
1312 the \textsc{OK} button
1313 \item Connect the target hardware to the computer (see Section
1314 \ref{sec-ccs-run-project}) and build the model by \textsc{Code
1315 $\rightarrow$ C/C++ Code $\rightarrow$ Build Model}. If the build
1316 succeeds, the download process will start automatically and once
1317 the downloading is finished, the application will run immediately.
1320 %%\subsubsection{Using OpenOCD for downloading}
1321 %%\label{sec:using-open-downl}
1323 %%On Linux systems, it is possible to use an alternative download
1324 %%mechanism based on the OpenOCD tool. This results in much shorter
1325 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1326 %%download the compiled binary'' checkbox. For more information about
1327 %%the OpenOCD configuration refer to our
1328 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1330 %%Note: You should close any ongoing Code Composer Studio debug sessions
1331 %%before downloading the generated code to the RPP board. Otherwise the
1334 \section{Configuring serial interface}
1335 \label{sec-configuration-serial-interface}
1336 The main mean for communication with the RPP board is the serial line.
1337 Each application may define its own serial line settings, but the
1338 following settings are the default:
1341 \item Baudrate: 115200
1345 \item Flow control: none
1348 Use GtkTerm on Linux or Bray Terminal on Windows for accessing the
1349 serial interface. On \tgtBoardName{} board, the serial line is tunneled over
1351 % TODO: Conditional compilation
1352 % See Section \ref{sec-hardware-description} for reference about
1353 % the position of the serial interface connector on the RPP board.
1355 \section{Bug reporting}
1356 \label{sec-bug-reporting}
1358 Please report any problems to CTU's bug tracking system at
1359 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1360 to register in the system and notify Michal Sojka about their
1361 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1364 \chapter{C Support Library}
1365 \label{chap-c-support-library}
1367 This chapter describes the implementation of the C support library
1368 (RPP Library), which is used both for Simulink code generation target
1369 and command line testing tool.
1371 \section{Introduction}
1372 \label{sec-description}
1373 The RPP C Support Library (also called RPP library) defines the API for
1374 working with the board. It includes drivers and the operating system.
1376 designed from the board user perspective and exposes a simplified high-level API
1377 to handle the board's peripheral modules in a safe manner. The library is
1378 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1379 \texttt{\repo/rpp/lib}.
1381 The RPP library can be used in any project, where the RPP hardware
1382 support is required and it is also used in two applications --
1383 Simulink Coder Target, described in Chapter
1384 \ref{chap-simulink-coder-target}, and the command line testing tool,
1385 described in Chapter \ref{chap-rpp-test-software}.
1387 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1389 \section{API development guidelines}
1390 \label{sec-api-development-guidlines}
1392 The following are the development guidelines used for developing the RPP API:
1395 \item User documentation should be placed in header files, not in source
1396 code, and should be Doxygen formatted using autobrief. Documentation for each
1397 function present is mandatory and must mention whether the function is
1399 \item Function declarations in the headers files is for public functions
1400 only. Do not declare local/static/private functions in the header.
1401 \item Documentation in source code files should be non-doxygen formatted
1402 and intended for developers, not users. Documentation here is optional and at
1403 the discretion of the developer.
1404 \item Always use standard data types for IO when possible. Use custom
1405 structs as very last resort. \item Use prefix based functions names to avoid
1406 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1407 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1409 \item Be very careful about symbol export. Because it is used as a
1410 static library the modules should not export any symbol that is not intended to
1411 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1412 of thumb declare all global variables as static.
1413 \item Only the RPP Layer symbols are available to user applications. All
1414 information related to lower layers is hidden for the application. This is
1415 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1416 implementations files only and never on the interface files. Never expose any
1417 other layer to the application or to the whole system below the RPP layer. In
1418 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1422 \section{Coding style}
1423 \label{sec-coding-style}
1424 In order to keep the code as clean as possible, unified coding style
1425 should be followed by any contributor to the code. The used coding
1426 style is based on the default configuration of Code Composer Studio
1427 editor. Most notable rule is that the Tab character is 4 spaces.
1429 The RPP library project is prepared for use of a tool named
1430 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1431 that do not match the coding style. However, keep in mind that the
1432 program is not perfect and sometimes it can modify code where the
1433 suggested coding style has been followed. This does not causes
1434 problems as long as the contributor follows the committing procedure
1435 described in next paragraph.
1437 When contributing to the code, the contributor should learn the
1438 current coding style from existing code. When a new feature is
1439 implemented and committed to the local repository, the following
1440 commands should be called in Linux terminal:
1442 \begin{lstlisting}[language=bash]
1446 The first line command corrects many found coding style violations and
1447 the second command displays them. If the user agree with the
1448 modification, he/she should amend the last commit, for example by:
1449 \begin{lstlisting}[language=bash]
1454 \section{Subdirectory content description}
1455 \label{sec-rpp-lib-subdirectory-content-description}
1457 The following files and directories are present in the library source
1461 \item[rpp-lib.lib] Compiled RPP library.
1463 The library is needed for Simulink models and other ARM/\tgname{}
1464 applications. It is placed here by the Makefile, when the library is
1467 \item[apps/] Various applications related to the RPP library.
1469 This include the CCS studio project for generating of the static
1470 library and a test suite. The test suit in this directory has
1471 nothing common with the test suite described later in
1472 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1473 to be merged in the future. Also other Hello World applications are
1474 included as a reference about how to create an \tgname{}
1476 \item[build] The library can be compiled for multiple targets. Each
1477 supported target has a subdirectory here, which stores configuration
1478 of how to compile the library and applications for different target.
1479 Each subdirectory contains a CCS project and Makefiles to build the
1480 library for the particular target.
1481 \item[build/$\langle$target$\rangle$/Makefile.config] Configuration
1482 for the particular target. This includes compiler and linker
1484 \item[build/$\langle$target$\rangle$/*.cmd]
1485 CGT Linker command file.
1487 This file is used by all applications that need to tun on the RPP
1488 board, including the Simulink models and test suite. It includes
1489 instructions for the CGT Linker about target memory layout and where
1490 to place various code sections.
1492 \item[halcogen/] HalCoGen project files for the supported boards and
1493 scripts for automated conversion of HalCoGen-generated files for use
1496 Note: This is work in progress. Currently only ``pinmux'' files for
1497 tms570\_hydctr board were produced by the scripts here.
1499 \item[os/] OS layers directory. See
1500 Section~\ref{sec-operating-system-layer} for more information about
1501 currently available operating system versions and
1502 Section~\ref{sec-changing-os} for information how to replace the
1504 \item[rpp/] Main directory for the RPP library.
1505 \item[rpp/doc/] RPP Library API
1507 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1508 implementations files for given \texttt{\{layer\}}. See
1509 Section~\ref{sec-software-architecture} for details on the RPP
1511 \item[rpp/include/rpp/rpp.h] Main library header file.
1513 To use this library with all its modules, just include this file
1514 only. Also, before using any library function call the
1515 \texttt{rpp\_init()} function for hardware initialization.
1516 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1517 \texttt{\{mnemonic\}} module.
1519 These files includes function definitions, pin definitions, etc,
1520 specific to \{mnemonic\} module. See also
1521 Section~\ref{sec-api-development-guidlines}.
1523 If you want to use only a subset of library functions and make the
1524 resulting binary smaller, you may include only selected
1525 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1526 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1527 \texttt{rpp.h} and \texttt{rpp\_init} function.
1528 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1530 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1531 top of the DRV library.
1532 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1535 \section{Compilation}
1536 \label{sec-compilation}
1538 To compile the library open the Code Composer studio project
1539 \texttt{rpp-lib} from appropriate \texttt{build/<target>} directory
1540 (see Section~\ref{sec-openning-of-existing-project}) and build the
1541 project (\textsc{Project $\rightarrow$ Build Project}). If the build
1542 process is successful, the \texttt{rpp-lib.lib} and
1543 \texttt{Makefile.config} files will appear in the library root
1546 It is also possible to compile the library using the included
1547 \texttt{Makefile}. From the Linux command line run:
1548 \begin{lstlisting}[language=bash]
1549 cd <library-root>/build/<target>/Debug #or Release
1552 Note that this only works if Code Composer Studio is installed in
1553 \texttt{/opt/ti} directory. Otherwise, you have to set
1554 \texttt{CCS\_UTILS\_DIR} variable.
1556 On Windows command line run:
1557 \begin{lstlisting}[language=bash]
1558 cd <library-root>\build\<target>\Debug
1559 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1560 C:\ti\ccsv5\utils\bin\gmake.exe lib
1563 You have to use \texttt{gmake.exe} instead of \texttt{make} and it is
1564 necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You can
1565 also edit \texttt{\repo/build/Makefile.rules.arm} and set the variable
1568 Note that the Makefile still requires the Code Composer Studio (ARM
1569 compiler) to be installed because of the CGT.
1571 \section{Compiling applications using the RPP library}
1572 \label{sec:comp-appl-using}
1574 The relevant aspects for compiling and linking an application using
1575 the RPP library are summarized below.
1577 % \subsection{ARM target (RPP board)}
1578 % \label{sec:arm-target-rpp}
1580 The detailed instructions are presented in
1581 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1585 \item Configure include search path to contain the directory of
1586 used FreeRTOS version, e.g.
1587 \texttt{\repo/os/8.2.2/include}. See Section
1588 \ref{sec-software-architecture}.
1589 \item Include \texttt{rpp/rpp.h} header file or just the needed
1590 peripheral specific header files such as \texttt{rpp/can.h}.
1591 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1592 The RPP library must be placed before Texas Instruments
1593 support library \tgtRtlib.
1594 \item Use the provided linker command file
1595 \texttt{\ldscriptname}.
1598 % \subsection{POSIX target}
1599 % \label{sec:posix-target}
1601 % \begin{compactitem}
1602 % \item Include headers files of the OS for Simulation. At the time
1603 % of this writing the OS is POSIX FreeRTOS 6.0.4.
1604 % \item Include header files for the RPP library or for modules you
1605 % want to use (rpp\_can.h for CAN module for example).
1606 % \item Add library \texttt{librpp.a} to the linker libraries.
1607 % \item Add \texttt{pthread} to the linker libraries.
1610 \section{Compiling API documentation}
1611 \label{sec-compiling-api-documentation}
1612 The documentation of the RPP layer is formatted using Doxygen
1613 documentation generator. This allows to generate a high quality API
1614 reference. To generate the API reference run in a Linux terminal:
1616 \lstset{language=bash}
1618 cd <repo>/rpp/doc/api
1620 xdg-open html/index.html
1623 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1624 reference generation are their name is self-explanatory:
1634 \section{Changing operating system}
1635 \label{sec-changing-os}
1636 The C Support Library contains by default the FreeRTOS operating
1637 system in version 8.2.2. This section describes what is necessary to
1638 change in the library and other packages in order to replace the
1641 \subsection{Operating system code and API}
1643 The source and header files of the current operating system (OS) are
1644 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1645 operating system should also be placed in this directory.
1647 To make the methods and resources of the new OS available to the C Support
1648 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1649 the operating system header files.
1651 Current implementation for FreeRTOS includes a header file
1652 \texttt{\repo/rpp/lib/os/\-8.2.2\-include/os.h}, which
1653 contains all necessary declarations and definitions for the FreeRTOS.
1654 We suggest to provide a similar header file for your operating system as
1657 In order to compile another operating system into the library, it is
1658 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1659 contains a list of files that are compiled into the library. All lines
1660 starting with \texttt{os/} should be updated.
1662 \subsection{Device drivers}
1663 Drivers for SCI and ADC depend on the FreeRTOS features. These
1664 features need to be replaced by equivalent features of the new
1665 operating system. Those files should be modified:
1667 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1668 structure, referring to FreeRTOS queue and semaphore.
1669 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1671 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1672 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1673 suggest replacing this with OS independent type, e.g. number of
1674 milliseconds to wait, with $-1$ meaning infinite waiting time.
1675 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1676 specific features: semaphores, queues, data types
1677 (\texttt{portBASE\_TYPE}) and
1678 critical sections (\texttt{taskENTER\_CRITICAL} and
1679 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1680 task preemption is disabled. The same should be ensured by the other
1681 operating system or the driver should be rewritten to use other
1682 synchronization primitives.
1683 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1686 \subsection{System start}
1687 The initialization of the MCU and the system is in the
1688 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1689 operating system needs to handle interrupts generated by the Real-Time
1690 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1691 \texttt{vPreemptiveTick} has to be replaced.
1693 \subsection{Simulink template for main function}
1695 When the operating system in the library is replaced, the users of the
1696 library must be changed as well. In case of Simulink code generation
1697 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1698 template for generation of the \texttt{ert\_main.c} file, containing
1699 the main function, has to be modified to use proper functions for task
1700 creation, task timing and semaphores. The template is stored in
1701 \texttt{\repo/rpp/rpp/rpp\_mrmain.tlc} file.
1703 \chapter{Simulink Coder Target}
1704 \label{chap-simulink-coder-target}
1706 The Simulink Coder Target allows to convert Simulink models to C code,
1707 compile it and download to the board.
1709 \section{Introduction}
1710 \label{sec-introduction}
1712 The Simulink RPP Target provides support for C source code generation from Simulink models and
1713 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1714 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1715 Code Composer Studio, and thus it depends on it for proper functioning.
1717 This target also provides support for automatic download of the compiled binary to the RPP
1720 \begin{figure}\begin{center}
1722 \includegraphics[scale=.45]{images/tlc_process.png}
1723 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1724 \end{center}\end{figure}
1726 \section{Features and limitations}
1727 \label{sec-features}
1730 \item Sampling frequencies up to 1\,kHz.
1731 \item Multi-rate models can be executed in a single or multiple OS
1732 tasks. Multi-tasking mode allows high-rate tasks to preempt low-rate
1733 tasks. See Section \ref{sec-singlet-multit-modes} for more details.
1734 \item No External mode support yet. We work on it.
1735 \item Custom compiler options, available via OPTS variable in
1736 \emph{Make command} at \emph{Code Generation} tab (see Figure
1737 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1741 \section{RPP Options pane}
1742 \label{sec-rpp-target-options}
1744 The RPP Target includes the following configuration options, all of them
1745 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1746 \textsc{RPP Options}:
1749 \item \textbf{C system stack size}: this parameter is passed directly
1750 to the linker for the allocation of the stack. Note that this stack
1751 is used only for initializing the application and FreeRTOS. Once
1752 everything is initialized, another stack is used by the generated
1753 code. See below. Default value is 4096.
1755 \item \textbf{C system heap size}:
1756 \label{sec-rpp-target-options-heap-size} this parameter is passed
1757 directly to the linker for the allocation of the heap. Currently,
1758 the heap is not used, but will be used by the external mode in the future.
1759 Note that FreeRTOS uses its own heap whose size is independent of this
1761 \item \textbf{Model step task stack size}: this parameter will be
1762 passed to the \texttt{xTaskCreate()} that
1763 creates the task for the model to run. In a Simulink model there are always two tasks:
1765 \item The worker task. This task is the one that executes the model
1766 step. This task requires enough stack memory to execute the step.
1767 If your model does not run, it might be caused by too small stack.
1768 The memory needed for the stack depends on the size and structure
1770 \item The control task. This task controls when the worker task should execute and controls overruns.
1773 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1774 the board after the model is successfully built. Note that this option is unaware of the option
1775 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1776 only source code has been generated, failing graciously or uploading an old binary laying around
1777 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1778 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1779 script can be found in:
1781 <ccs>/ccs_base/scripting/examples/loadti/readme.txt
1782 http://processors.wiki.ti.com/index.php/Loadti
1785 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1786 download of the generated program, leaving the loaded program running.
1788 The \texttt{loadopenocd.sh} script will close after the download of the
1789 generated program as well, but the program will be stopped. In order to run
1790 the loaded program a manual reset of the board is required.
1792 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1793 implemented for the simulink target.
1795 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1796 implemented for the \mcuname{} simulink target.
1797 % TODO Not true - use conditional compilation here.
1799 \item \textbf{Print model metadata to SCI at start}: if set this option will
1800 print a message to the Serial Communication Interface when the model start
1801 execution on the board. This is very helpful to identify the model running on
1802 the board. The message is in the form:
1805 `model_name' - generated_date (TLC tlc_version)
1810 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1814 \section{Subdirectory content description}
1815 \label{sec-simulink-subdirectory-content-description}
1816 This section describes the directories of the Simulink Coder. If you are
1817 interested in particular file, refer the description at the beginning of the
1821 \item[doc/] Contains the sources of the documentation, you are now
1823 \item[refs/] Contains third party references, which license allows the
1825 \item[rpp/blocks] Contains the Simulink blocks specific to the
1826 \tgtBoardName{} board and their sources (.c and .tlc files). When an
1827 user calls \texttt{rpp\_setup.m}, these files are processed and
1828 Simulink block library \texttt{rpp\_lib.slx} is created.
1829 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1830 Matlab Simulink model.
1831 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1832 reference for the usage and for testing.
1833 \item[rpp/lib] Contains the C Support Library. See Chapter
1834 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1835 for Linux support of the OpenOCD, for code downloading to the target.
1836 \item[rpp/loadti] Contains download scripts for Linux and Windows
1837 support for code downloading to the target, using Texas Instruments CCS code
1839 \item[rpp/rpp] Contains set of support script for the Code Generator.
1842 \section{Tasking modes}
1843 \label{sec-singlet-multit-modes}
1845 This section describes two different modes (single- and multi-tasking)
1846 of how generated code of multi-rate models can be executed. Tasking
1847 mode can be selected for every model in the configuration dialog as
1848 described in Section \ref{sec-crating-new-model}.
1850 For single-rate models, the mode selection does not matter. For
1851 multi-rate models, the mode selection becomes important as it may
1852 influence certain system properties such as safety or performance.
1854 \subsection{SingleTasking mode}
1855 \label{sec-singlet-mode}
1856 In this mode all Simulink tasks, defined by their sampling rate, run
1857 in a single operating system task (thread). This means that the period
1858 of the highest rate Simulink task cannot be greater than the
1859 worst-case execution time of all Simulink tasks together. On the other
1860 hand, using this mode reduces the risk of failures caused by task
1861 synchronization errors, e.g. race conditions, deadlocks.
1863 \subsection{MultiTasking mode}
1864 \label{sec-multit-mode}
1866 In this mode every Simulink task, defined by its sampling rate, runs
1867 in its own operating system task (thread). Thread priorities are
1868 assigned based on task rates in such a way that tasks with higher
1869 rates can preempt tasks with lower rates. This means that the period
1870 of the fastest sampling rate is limited only by the execution time of
1871 this task and not of all the tasks in the system.
1873 This mode offers more efficient use of system resources (CPU) but
1874 there is a possibility of failures caused by task synchronization
1877 \section{Block Library Overview}
1878 \label{sec-block-library-overview}
1879 The Simulink Block Library is a set of blocks that allows Simulink models to use
1880 board IO and communication peripherals. The available blocks are summarized in
1881 Table~\ref{tab:block-lib-status} and more detailed description is
1882 given in Section~\ref{sec-blocks-description}.
1885 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1887 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1889 \input{block_table.tex}
1891 \end{tabular}\end{center}
1893 \caption{Block library overview}
1894 \label{tab:block-lib-status}
1897 \label{sec-blocks-implementation}
1898 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1899 approach taken is briefly explained.
1901 \subsection{C MEX S-Functions}
1902 \label{sec-c-mex-functions}
1904 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1905 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1906 \item S-Function: System Function, as opposed to standard functions, or user functions.
1909 A C MEX S-Function is a structured C file that implements some mandatory and
1910 optional callbacks for a specification of a number of inputs, outputs, data
1911 types, parameters, rate, validity checking, etc. A complete list of callbacks
1914 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1917 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1918 diagram \ref{fig-sfunctions-process}:
1920 \begin{figure}[H]\begin{center}
1922 \includegraphics[scale=.45]{images/sfunctions_process.png}
1923 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1924 \label{fig-sfunctions-process}
1925 \end{center}\end{figure}
1927 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1928 the RPP blocks are for hardware peripherals control and IO the blocks are
1929 implemented as pure sink or pure source, the S-Function is just a descriptor of
1930 the block and does not perform any calculation and does not provide any input or
1931 output for simulations.
1933 The implementation of the S-Functions in the RPP project has following layout:
1936 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1937 \item Include header file \texttt{header.c}, which in connection with
1938 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1939 \item In \texttt{mdlInitializeSizes} define:
1941 \item Number of \textit{dialog} parameter.
1942 \item Number of input ports.
1944 \item Data type of each input port.
1946 \item Number of output ports.
1948 \item Data type of each output port.
1950 \item Standard options for driver blocks.
1952 \item In \texttt{mdlCheckParameters}:
1954 \item Check data type of each parameter.
1955 \item Check range, if applicable, of each parameter.
1957 \item In \texttt{mdlSetWorkWidths}:
1959 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1961 \item Data type of each \textit{runtime} parameter.
1964 \item Define symbols for unused functions.
1965 \item Include trailer file \texttt{trailer.c}.
1968 The C MEX S-Function implemented can be compiled with the following command:
1970 \lstset{language=bash}
1972 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1975 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1976 and use lower case mnemonic of the block.
1978 Also a script called \texttt{compile\_blocks.m} is included. The script that
1979 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1980 all S-Functions are compiled at once. To use this script, in Matlab do:
1982 \lstset{language=Matlab}
1984 cd <repo>/rpp/blocks/
1988 \subsection{Target Language Compiler files}
1989 \label{sec-target-language-compiler-files}
1991 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1992 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1993 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1994 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1997 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1998 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1999 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
2001 The TLC files implemented for this project use 3 hook functions in particular (other are available,
2002 see TLC reference documentation):
2004 \item \texttt{BlockTypeSetup}: \newline{}
2005 BlockTypeSetup executes once per block type before code generation begins.
2006 This function can be used to include elements required by this block type, like includes or
2008 \item \texttt{Start}: \newline{}
2009 Code here will be placed in the \texttt{void
2010 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
2012 \item \texttt{Outputs}: \newline{}
2013 Code here will be placed in the \texttt{void
2014 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
2015 inputs of a block and/or to set the outputs of that block.
2018 The general layout of the TLC files implemented for this project is:
2020 \item In \texttt{BlockTypeSetup}: \newline{}
2021 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
2022 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
2023 \item \texttt{Start}: \newline{}
2024 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
2025 DAC value initialization, SCI baud rate setup, among others.
2026 \item \texttt{Outputs}: \newline{}
2027 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
2028 is checked and in case of failure error is reported to the block using ErrFlag.
2031 C code generated from a Simulink model is placed on a file called
2032 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
2033 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
2034 For example, the source code generated for model \texttt{foobar} will be placed
2035 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
2037 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
2039 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
2040 This function recalculates all the outputs of the blocks and should be called once per step. This
2041 is the main working function.
2042 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
2043 This function is called only once before the first step is issued. Default values for blocks IOs
2044 should be placed here.
2045 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
2046 This function is called when terminating the model. This should be used to free memory or revert
2047 other operations made in the initialization function. With current implementation this function
2048 should never be called unless an error is detected and in most models it is empty.
2051 \section{Block reference}
2052 \label{sec-blocks-description}
2054 This section describes each one of the Simulink blocks present in the Simulink
2055 RPP block library, shown in Figure \ref{fig-block-library}.
2059 \includegraphics[width=\textwidth]{images/block_library.png}
2061 \caption{Simulink RPP Block Library.}
2062 \label{fig-block-library}
2065 \input{block_desc.tex}
2067 \section{Compilation}
2068 \label{sec-simulink-compilation}
2069 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:
2070 \lstset{language=Matlab}
2072 cd <rpp-simulink>/rpp/blocks
2076 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:
2079 \item Open Matlab and run those commands in the Matlab command line:
2080 \lstset{language=Matlab}
2082 cd <rpp-simulink>/rpp/demos
2085 \item Run those commands in a Linux terminal:
2086 \begin{lstlisting}[language=bash]
2087 cd <rpp-simulink>/rpp/demos
2091 or Windows command line:
2093 \begin{lstlisting}[language=bash]
2094 cd <rpp-simulink>\rpp\demos
2095 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2098 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}.
2101 \section{Adding new functionality}
2102 \label{sec:adding-new-funct}
2103 This section describes how to create new Simulink blocks and how to add them to the RPP
2104 blocks library. The new block creation process consists of several steps:
2106 \item Addition of the new functionality to the RPP C support library.
2107 \item Definition of the block interface as a C MEX S-Function
2108 (Section~\ref{sec:block-definition-c})
2109 \item Compilation of the block definition to MEX file
2110 (Section~\ref{sec:c-mex-file})
2111 \item Creation of the code generator template (TLC) file
2112 (Section~\ref{sec:tlc-file-creation}).
2113 \item Creation of an S-Function block in the RPP block library
2114 and ``connecting'' this block with the C MEX and TLC files
2115 (Section~\ref{sec:creation-an-s})
2116 \item Optional: Creation of the mask for the new block. The mask
2117 specifies graphical representation of the block as well as
2118 the content of the block parameters dialog box.
2120 The following subsections demonstrate the procedure on an example of a simple user defined block.
2122 \subsection{Block interface definition in a C MEX S-function}
2123 \label{sec:block-definition-c}
2124 In order to use a custom block in the Simulink model, Simulink must know
2125 a certain number of block attributes, such as the number and type of
2126 block inputs, outputs and parameters. These attributes are specified
2127 by a set of functions in a C file. This C file gets compiled by the MEX
2128 compiler into a MEX file and is then used in an S-Function block.
2129 Simulink calls the functions in the C MEX file to obtain the above
2130 mentioned block attributes. In case of RPP blocks, no other
2131 functionality is present in the C MEX file.
2133 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2134 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2135 the C files as a reference.
2137 Every C file that will be used with the RPP library should begin with
2138 a comment in YAML\footnote{\url{http://yaml.org/},
2139 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2140 this block is used to automatically generate both printed and on-line
2141 documentation. Although this block is not mandatory, it is highly
2142 recommended, as it helps keeping the documentation consistent and
2145 The YAML documentation block may look like this:
2146 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2150 Name: Name Of The Block
2156 - { name: "Some Input Signal", type: "bool" }
2159 - { name: "Some Output Signal", type: "bool" }
2163 # Description and Help is in Markdown mark-up
2166 This is a stub of an example block.
2170 This block is a part of an example about how to create
2171 new Matlab Simulink blocks for RPP board.
2175 RPP API functions used:
2183 Following parts are obligatory and the block will not work without them. It starts with a
2184 definition of the block name and inclusion of a common source file:
2186 \begin{lstlisting}[language=c]
2187 #define S_FUNCTION_NAME sfunction_myblock
2191 To let Simulink know the type of the inputs, outputs and how many parameters
2192 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2194 \begin{lstlisting}[language=c]
2195 static void mdlInitializeSizes(SimStruct *S)
2197 /* The block will have no parameters. */
2198 if (!rppSetNumParams(S, 0)) {
2201 /* The block will have one input signal. */
2202 if (!ssSetNumInputPorts(S, 1)) {
2205 /* The input signal will be of type boolean */
2206 rppAddInputPort(S, 0, SS_BOOLEAN);
2207 /* The block will have one output signal */
2208 if (!ssSetNumOutputPorts(S, 1)) {
2211 /* The output signal will be of type boolean */
2212 rppAddOutputPort(S, 0, SS_BOOLEAN);
2214 rppSetStandardOptions(S);
2218 The C file may contain several other optional functions definitions for parameters check,
2219 run-time parameters definition and so on. For information about those functions refer the comments
2220 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2222 The minimal C file compilable into C MEX has to contain following
2223 macros to avoid linker error messages about some of the optional
2224 functions not being defined:
2225 \begin{lstlisting}[language=c]
2226 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2227 #define UNUSED_MDLCHECKPARAMETERS
2228 #define UNUSED_MDLOUTPUTS
2229 #define UNUSED_MDLTERMINATE
2232 Every C file should end by inclusion of a common trailer source file:
2234 \begin{lstlisting}[language=c]
2235 #include "trailer.c"
2238 \subsection{C MEX file compilation}
2239 \label{sec:c-mex-file}
2240 In order to compile the created C file, the development environment
2241 has to be configured first as described in
2242 Section~\ref{sec-matlab-simulink-usage}.
2244 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2245 into C MEX by running script
2246 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2247 prompt. If your block requires some special compiler options, edit the
2248 script and add a branch for your block.
2250 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2251 from Matlab command prompt.
2253 \subsection{TLC file creation}
2254 \label{sec:tlc-file-creation}
2255 The TLC file is a template used by the code generator to generate the
2256 C code for the RPP board. The TLC files are stored in
2257 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2258 same (except for the extension) as the names of the corresponding
2259 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2260 free to open any of the TLC files as a reference.
2262 TLC files for RPP blocks should contain a header:
2263 \begin{lstlisting}[language=c]
2264 %implements sfunction_myblock "C"
2265 %include "common.tlc"
2268 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:
2270 \item BlockTypeSetup
2271 \item BlockInstanceSetup
2276 For detailed description about each one of those functions, refer to
2277 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2278 some code may look like this:
2279 \begin{lstlisting}[language=c]
2280 %implements sfunction_myblock "C"
2281 %include "common.tlc"
2283 %function BlockTypeSetup(block, system) void
2284 %% Ensure required header files are included
2285 %<RppCommonBlockTypeSetup(block, system)>
2286 %<LibAddToCommonIncludes("rpp/sci.h")>
2289 %function Outputs(block, system) Output
2290 %if !SLibCodeGenForSim()
2291 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2292 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2294 %<out_signal> = !%<in_signal>;
2295 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2301 The above template causes the generated code to contain
2302 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2303 executed, its output will be the negation of its input and the value
2304 of the input signal will be printed to the serial line.
2306 \subsection{Creation of an S-Function block in the RPP block library}
2307 \label{sec:creation-an-s}
2308 User defined Simulink blocks can be included in the model as
2309 S-Function blocks. Follow this procedure to create a new block in the
2312 \item Create a new Simulink library by selecting
2313 \textsc{File$\rightarrow$New$\rightarrow$Library} and save it as
2314 \texttt{\repo\-/rpp/blocks/rpp\_$\langle$name$\rangle$.slx}.
2315 Alternatively, open an existing library.
2316 \item In case of opening an existing library, unlock it for editing by
2317 choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2318 \item Open a Simulink Library Browser
2319 (\textsc{View$\rightarrow$Library Browser}) open
2320 \textsc{Simulink$\rightarrow$User-Defined Functions} and drag the
2321 \textsc{S-Function} block into the newly created library.
2322 \item Double click on the just created \textsc{S-Function} block and
2323 fill in the \textsc{S-function name} field. Put there the name
2324 (without the extension) of the created C MEX S-Function, e.g.
2325 sfunction\_myblock. The result should like like in
2326 Figure~\ref{fig-simulink_s_fun_cfg}.
2327 \begin{figure}[h]\begin{center}
2329 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2330 \caption{Configuration dialog for user defined S-function.}
2331 \label{fig-simulink_s_fun_cfg}
2332 \end{center}\end{figure}
2333 \item If your block has some parameters, write their names (you can
2334 choose them arbitrarily) in the \textsc{S-function parameters}
2335 field, separated by commas. \label{item:1}
2336 \item Now you should see the new Simulink block with the right number
2337 of inputs and outputs.
2338 \item Optional: Every user-defined block can have a \emph{mask}, which
2339 provides some useful information about the name of the block,
2340 configuration dialog for parameters and names of the IO signals. The
2341 block can be used even without the mask, but it is not as user
2342 friendly as with proper mask. Right-click the block and select
2343 \textsc{Mask$\rightarrow$Create Mask...}. In the definition of
2344 parameters, use the same names as in step~\ref{item:1}. See
2345 \cite[Section ``Block Masks'']{mathworks13:simul_2013b} for more
2347 \item Save the library and run \texttt{rpp\_setup} (or just
2348 \texttt{rpp\_generate\_lib}) from Matlab command line to add the newly
2349 created block to RPP block library (\texttt{rpp\_lib.slx}).
2352 Now, you can start using the new block in Simulink models as described
2353 in Section~\ref{sec-crating-new-model}.
2356 \section{Demos reference}
2357 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2358 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2360 This demos library is used as a test suite for the Simulink RPP Block Library
2361 but they are also intended to show basic programs built using it. Because of
2362 this, the demos try to use more than one
2363 type of block and more than one block per block type.
2365 In the reference below you can find a complete description for each of the demos.
2367 \subsection{ADC demo}
2368 \begin{figure}[H]\begin{center}
2370 \includegraphics[scale=.45]{images/demo_adc.png}
2371 \caption{Example of the usage of the Analog Input blocks for RPP.}
2372 \end{center}\end{figure}
2374 \textbf{Description:}
2376 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2377 measures voltage on every available Analog Input and prints the values on the
2380 \subsection{Simple CAN demo}
2381 \begin{figure}[H]\begin{center}
2383 \includegraphics[scale=.45]{images/demo_simple_can.png}
2384 \caption{The simplest CAN demonstration.}
2385 \end{center}\end{figure}
2387 \textbf{Description:}
2389 The simplest possible usage of the CAN bus. This demo is above all designed for
2390 testing the CAN configuration and transmission.
2392 \subsection{CAN transmit}
2393 \begin{figure}[H]\begin{center}
2395 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2396 \caption{Example of the usage of the CAN blocks for RPP.}
2397 \end{center}\end{figure}
2399 \textbf{Description:}
2401 Demostrates how to use CAN Transmit blocks in order to:
2404 \item Send unpacked data with data type uint8, uint16 and uint32.
2405 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2406 \item Send a message as extended frame type to be received by CAN Receive
2407 configured to receive both, standard and extended frame types.
2410 Demostrates how to use CAN Receive blocks in order to:
2413 \item Receive unpacked data of data types uint8, uint16 and uint32.
2414 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2415 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2416 \item Use function-call mechanism to process received messages
2419 \subsection{Continuous time demo}
2420 \begin{figure}[H]\begin{center}
2422 \includegraphics[scale=.45]{images/demo_continuous.png}
2423 \caption{The demonstration of contiuous time.}
2424 \end{center}\end{figure}
2426 \textbf{Description:}
2428 This demo contains two integrators, which are running at continuous time. The main goal
2429 of this demo is to verify that the generated code is compilable and is working even when
2430 discrete and continuous time blocks are combined together.
2432 \subsection{Simulink Demo model}
2433 \begin{figure}[H]\begin{center}
2435 \includegraphics[scale=.45]{images/demo_board.png}
2436 \caption{Model of the complex demonstration of the boards peripherals.}
2437 \end{center}\end{figure}
2439 \textbf{Description:}
2441 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2442 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2443 rotates the light around the MCU in one direction. Every time the user presses the button
2444 on the HDK, the direction is switched.
2446 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2447 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2448 and the message 0xFFFFFFFF simulates the button press.
2450 Information about the state of the application are printed on the Serial Interface.
2452 \subsection{Echo char}
2453 \begin{figure}[H]\begin{center}
2455 \includegraphics[scale=.45]{images/demo_echo_char.png}
2456 \caption{Echo Character Simulink demo for RPP.}
2457 \end{center}\end{figure}
2459 \textbf{Description:}
2461 This demo will echo (print back) any character received through the Serial Communication
2462 Interface (115200-8-N-1).
2464 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2465 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2467 \subsection{GIO demo}
2468 \begin{figure}[H]\begin{center}
2470 \includegraphics[scale=.45]{images/demo_gio.png}
2471 \caption{Demonstration of DIN and DOUT blocks}
2472 \end{center}\end{figure}
2474 \textbf{Description:}
2476 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2477 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2478 on the Serial Interface with the same period.
2480 \subsection{Hello world}
2481 \begin{figure}[H]\begin{center}
2483 \includegraphics[scale=.45]{images/demo_hello_world.png}
2484 \caption{Hello World Simulink demo for RPP.}
2485 \end{center}\end{figure}
2487 \textbf{Description:}
2489 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2490 character per second. The output speed is driven by the Simulink model step which is set to one
2493 \subsection{Multi-rate SingleTasking demo}
2494 \label{sec:mult-single-thre}
2496 \begin{figure}[H]\begin{center}
2498 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2499 \caption{Multi-rate SingleTasking Simulink demo for RPP.}
2500 \end{center}\end{figure}
2502 \textbf{Description:}
2504 This demo will toggle LEDs on the Hercules Development Kit with
2505 different rate. This is implemented with multiple Simulink tasks, each
2506 running at different rate. In the generated code, these tasks are
2507 called from a singe thread and therefore no task can preempt another
2508 one. See Section \ref{sec-singlet-mode} for more details.
2510 The state of each LED is printed to the Serial Communication Interface
2511 (115200-8-N-1) when toggled.
2514 \begin{tabular}{lll}
2515 \rowcolor[gray]{0.9}
2516 LED & pin & rate [s] \\
2517 1 & NHET1\_25 & 0.3 \\
2518 2 & NHET1\_05 & 0.5 \\
2519 3 & NHET1\_00 & 1.0 \\
2521 \captionof{table}{LEDs connection and rate}
2522 \label{tab:multirate_st_led_desc}
2525 \subsection{Multi-rate MultiTasking demo}
2526 \label{sec:mult-multi-thre}
2528 \begin{figure}[H]\begin{center}
2530 \includegraphics[scale=.45]{images/demo_multirate_mt.png}
2531 \caption{Multi-rate MultiTasking Simulink demo for RPP.}
2532 \label{fig:multitasking-demo}
2533 \end{center}\end{figure}
2535 \textbf{Description:}
2537 This demo toggles LEDs on the Hercules Development Kit with different
2538 rate (different colors in Figure~\ref{fig:multitasking-demo}). This is
2539 implemented with multiple Simulink tasks, each running at different
2540 rate. In the generated code, every subrate task runs in its own
2541 operating system thread. See Section \ref{sec-multit-mode} for more
2544 The state of each LED is also printed to the Serial Communication
2545 Interface (115200-8-N-1) when toggled.
2548 \begin{tabular}{lll}
2549 \rowcolor[gray]{0.9}
2550 LED & pin & rate [s] \\
2551 1 & NHET1\_25 & 0.3 \\
2552 2 & NHET1\_05 & 0.5 \\
2553 3 & NHET1\_00 & 1.0 \\
2555 \captionof{table}{LEDs connection and rate}
2556 \label{tab:multirate_mt_led_desc}
2561 \chapter{Command line testing tool}
2562 \label{chap-rpp-test-software}
2563 \section{Introduction}
2564 \label{sec-rpp-test-sw-intro}
2565 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2566 control of the RPP hardware. The test suite implements a command processor,
2567 which is listening for commands and prints some output related to the commands
2568 on the serial interface. The command processor is modular and each peripheral
2569 has its commands in a separate module.
2571 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2572 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2574 The application enables a command processor using the SCI at
2575 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2576 and prompt should look like:
2579 \ifx\tgtId\tgtIdTMSRPP
2581 Rapid Prototyping Platform v00.01-001
2582 Test Software version v0.2-261-gb6361ca
2588 Ti HDK \mcuname, FreeRTOS 7.0.2
2589 Test Software version eaton-0.1-beta-8-g91419f5
2590 CTU in Prague 10/2014
2595 Type in command help for a complete list of available command, or help command
2596 for a description of concrete command.
2598 \section{Compilation}
2599 \label{sec-rpp-test-sw-compilation}
2600 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.
2602 \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}.
2603 \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}.
2605 To build the Testing tool from Linux terminal run:
2606 \begin{lstlisting}[language=bash]
2611 or from Windows command line:
2613 \begin{lstlisting}[language=bash]
2615 "C:\ti\ccsv5\utils\bin\"gmake.exe
2618 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2622 \section{Commands description}
2624 This section contains the description of the available commands. The
2625 same description is also available in the program itself via the
2626 \texttt{help} command.
2628 \input{rpp-test-sw-cmds.tex}
2634 \textit{Analog to Digital Converter.} \newline{}
2635 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2636 digital number that represents the quantity's amplitude.
2639 \textit{Analog Input.} \newline{}
2640 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2643 \textit{Analog Output.} \newline{}
2644 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2646 \item[API] \textit{Application Programming Interface}
2649 \textit{Controller Area Network.} \newline{}
2650 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2651 communicate with each other within a vehicle without a host computer.
2652 In this project it is also used as mnemonic to refer to or something related to the CAN
2655 \item[CCS] \textit{Code Composer Studio} \\
2656 Eclipse-based IDE provided by Texas Instruments.
2659 \textit{Code Generation Tools.} \newline{}
2660 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2661 assemble, archive, among others. In this project is normally used as synonym for
2662 ``Texas Instruments ARM compiler and linker."
2665 \textit{Digital to Analog Converter.} \newline{}
2666 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2667 (current, voltage, or electric charge).
2670 \textit{Digital Input.} \newline{}
2671 Mnemonic to refer to or something related to the digital input hardware module.
2674 \textit{Engine Control Unit.} \newline{}
2675 A type of electronic control unit that controls a series of actuators on an internal combustion
2676 engine to ensure the optimum running.
2679 \textit{Ethernet.} \newline{}
2680 Mnemonic to refer to or something related to the Ethernet hardware module.
2683 \textit{FlexRay.} \newline{}
2684 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2686 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2690 \textit{General Purpose Input/Output.} \newline{}
2691 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2692 controlled (programmed) by the user at run time.
2695 \textit{H-Bridge.} \newline{}
2696 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2697 an electronic circuit that enables a voltage to be applied across a load in either direction.
2700 \textit{High-Power Output.} \newline{}
2701 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2702 output hardware module.
2705 \textit{Integrated Development Environment.} \newline{}
2706 An IDE is a Software application that provides comprehensive facilities to computer programmers
2707 for software development.
2710 \textit{Legacy Code Tool.} \newline{}
2711 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2715 \textit{Model-Based Design.} \newline{}
2716 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2717 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2720 \textit{Matlab Executable.} \newline{}
2721 Type of binary executable that can be called within Matlab. In this document the common term
2722 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2726 \textit{Pulse-width modulation.} \newline{}
2727 Technique for getting analog results with digital means. Digital control is used to create a
2728 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2729 in between full on and off by changing the portion of the time the signal spends on versus
2730 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2731 \textit{duty cycle}.
2733 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2734 developed platform, that includes both hardware and software.
2737 \textit{Serial Communication Interface.} \newline{}
2738 Serial Interface for communication through hardware's UART using communication standard RS-232.
2739 In this project it is also used as mnemonic to refer to or something related to the Serial
2740 Communication Interface hardware module.
2743 \textit{SD-Card.} \newline{}
2744 Mnemonic to refer to or something related to the SD-Card hardware module.
2747 \textit{SD-RAM.} \newline{}
2748 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2751 \textit{Target Language Compiler.} \newline{}
2752 Technology and language used to generate code in Matlab/Simulink.
2755 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2756 Hardware circuitry that translates data between parallel and serial forms.
2763 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2764 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2765 % LocalWords: IOs HDK TMDSRM