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86 % Supported targets - to be used with \ifx\tgtId\tgtIdXXX
87 \def\tgtIdTMSHDK{tms570\_hdk}
88 \def\tgtIdRMHDK{rm48\_hdk}
89 \def\tgtIdTMSRPP{tms570\_rpp}
90 \def\tgtIdHydCtr{tms570\_hydctr}
92 % Include target specific macros etc.
98 \newcommand{\HRule}{\rule{\linewidth}{0.5mm}}
103 % Upper part of the page
106 \includegraphics[width=0.35\textwidth]{images/cvut.pdf}\\[1cm]
107 \textsc{\LARGE Czech Technical University in Prague}\\[1.5cm]
113 {\huge \bfseries Simulink code generation target for Texas~Instruments
114 \tgname{} platform\par}
116 {\Large Version for \tgtBoardName{} board\par}
123 Carlos \textsc{Jenkins}\\
124 Michal \textsc{Horn}\\
125 Michal \textsc{Sojka}\\[\baselineskip]
138 \section*{Revision history}
140 \noindent\begin{tabularx}{\linewidth}{|l|l|l|X|}
141 \rowcolor[gray]{0.9}\hline
142 Revision & Date & Author(s) & Comments \\ \hline
144 0.1 beta & 2014-12-04 & Sojka, Horn & Initial version \\ \hline
146 0.2 & 2015-02-16 & Sojka, Horn & Improvements, clarifications,
149 0.3 & 2015-03-31 & Sojka, Horn & Added sections
150 \ref{sec-changing-os}, \ref{sec:adding-new-funct} and
151 \ref{sec:mult-single-thre}. Minor
154 0.4 & 2015-04-30 & Sojka, Horn & Added support for TMS570 HDK
155 platform. All RPP software
158 recompilation. \\ \hline
160 0.5 beta & 2015-07-03 & Sojka & Updated section \ref{sec:adding-new-funct}.
161 Added support for Eaton Hydraulics
162 Controller board (TMS570LS1227).
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193 %\addtolength{\parskip}{\baselineskip} % Paragraph spacing
195 \chapter{Introduction}
196 \label{chap-introduction}
198 This text documents software part of Rapid Prototyping Platform (RPP)
199 project for Texas Instruments \tgname{} safety microcontroller
200 developed by Czech Technical University in Prague (CTU). The software
201 consists of code generation target for Simulink Embedded Coder, a
202 low-level run-time C library and a tool for interactive testing of
203 hardware and software functionality.
205 Originally, the RPP project was created for a custom TMS570-based board
206 and the port to other platforms such as RM48 HDK and TMS570 HDK
207 development kits. Porting to other platforms was done under a contract
208 from Eaton Corporation.
210 The document contains step-by-step instructions for installation of
211 development tools, information about Simulink Coder configuration,
212 describes how to create new models as well as how to download the
213 resulting firmware to the hardware. It can also be used as a reference
214 for the testing tool, Matlab Simulink blocks and RPP Matlab Simulink
215 Code generator. Additionally, an overall description of the used
216 hardware platform and the architecture of included software is
220 \label{sec-background}
222 In this document, the term \emph{Rapid Prototyping Platform} denotes a
223 hardware board and accompanying software. The hardware board is
224 \tgtBoardName{} based on ARM Cortex R4 safety microcontroller
225 \mcuname{}. This MCU contains several protective mechanisms (two cores
226 in lockstep, error correction mechanisms for SRAM and Flash memory,
227 voltage monitoring, etc.) to fulfill the requirements for safety
228 critical applications. See~\cite{\tgrefman} for details.
230 In order to develop non-trivial applications for the RPP, an operating
231 system is necessary. The RPP is based on FreeRTOS -- a simple
232 opensource real-time operating system kernel. The FreeRTOS provides an
233 API for creating and managing and scheduling multiple tasks, memory
234 manager, semaphores, queues, mutexes, timers and a few of other
235 features which can be used in the applications.
236 See~\cite{usingthefreertos2009} for more details.
238 Even with the operating system it is quite hard and non-intuitive to
239 manipulate the hardware directly. That is the point when abstraction
240 comes into the play. The RPP software is made of several layers
241 implementing, from the bottom to the top, low-level device drivers,
242 hardware abstraction for common functionality on different hardware
243 and an API which is easy to use in applications. The operating system
244 and the basic software layers, can be compiled as a library and easily
245 used in any project. More details about the library can be found in
246 Chapter~\ref{chap-c-support-library} and in~\cite{michalhorn2013}.
248 Because human beings make mistakes and in safety critical applications
249 any mistake can cause damage, loos of money or in the worst case even
250 death of other people, the area for making mistakes has to be as small
251 as possible. An approach called Model-based development
252 \cite{modelbasedwiki2013} has been introduced to reduce the
253 probability of making mistakes. In model-based development, the
254 applications are designed at higher level from models and the
255 functionality of the models can be simulated in a computer before the
256 final application/hardware is finished. This allows to discover
257 potential errors earlier in the development process.
259 One commonly used tool-chain for model-based development is
260 Matlab/Simulink. In Simulink the application is developed as a model
261 made of interconnected blocks. Every block implements some
262 functionality. For example one block reads a value from an
263 analog-to-digital converter and provides the value as an input to
264 another block. This block can implement some clever algorithm and its
265 output is passed to another block, which sends the computed value as a
266 message over CAN bus to some other MCU. Such a model can be simulated
267 and tested even before the real hardware is available by replacing the
268 input and output blocks with simulated ones. Once the hardware is
269 ready, C code is automatically generated from the model by a Simulink
270 Coder. The code is then compiled by the MCU compatible compiler and
271 downloaded to the MCU Flash memory on the device. Because every block
272 and code generated from the block has to pass a series of tests during
273 their development, the area for making mistakes during the application
274 development has been significantly reduced and developers can focus on
275 the application instead of the hardware and control software
276 implementation. More information about code generation can be found in
277 Chapter \ref{chap-simulink-coder-target}. For information about Matlab
278 Simulink, Embedded Coder and Simulink Coder, refer to
279 \cite{embeddedcoderreference2013, ebmeddedcoderusersguide2013,
280 simulinkcoderreference2013, targetlanguagecompiler2013,
281 simulinkcoderusersguide2013, simulinkdevelopingsfunctions2013}.
283 \section{Hardware description}
284 \label{sec-hardware-description}
288 \section{Software architecture}
289 \label{sec-software-architecture}
291 The core of the RPP software is the so called RPP Library. This
292 library is conceptualy structured into 5 layers, depicted in
293 Figure~\ref{fig-layers}. The architecture design was driven by the
294 following guidelines:
297 \item Top-down dependency only. No lower layer depends on anything from
299 % \item 1-1 layer dependency only. The top layer depends
300 % exclusively on the bottom layer, not on any lower level layer (except for a
301 % couple of exceptions).
302 \item Each layer should provide a unified layer interface
303 (\texttt{rpp.h}, \texttt{drv.h}, \texttt {hal.h}, \texttt{sys.h} and
304 \texttt{os.h}), so that higher layers depend on the lower layer's interface
305 and not on individual elements from that layer.
311 \includegraphics[width=250px]{images/layers.pdf}
312 \caption{The RPP library layers.}
317 As a consequence of this division the source code files and interface files are
318 placed in private directories like \texttt{drv/din.h}. With this organization
319 user applications only needs to include the top layer interface files (for
320 example \texttt{rpp/rpp\_can.h}) to be able to use the selected library API.
322 The rest of the section provides basic description of each layer.
324 \subsection{Operating System layer}
325 \label{sec-operating-system-layer}
326 This is an interchangeable operating system layer containing the
327 FreeRTOS source files. The system can be easily replaced by another
328 version. For example it is possible to compile the RPP library for
329 Linux (using POSIX version of the FreeRTOS), which can be desirable
330 for some testing. The source files can be found in the
331 \texttt{$\langle$rpp\_lib$\rangle$/os} folder.
333 The following FreeRTOS versions are distributed:
335 \item[6.0.4\_posix] POSIX version, usable for compilation of the library
337 \item[7.0.2] Preferred version of the FreeRTOS, distributed by
338 Texas Instruments. This version has been tested and is used in the current
339 version of the library.
340 \item[7.4.0] Newest version distributed by the Texas Instruments.
341 \item[7.4.2] Newer version available from FreeRTOS pages. Slightly
342 modified to run on \tgname{} MCU.
346 Both 7.4.x version were tested and work, but the testing was not so
347 extensive as with the used 7.0.2 version.
349 \subsection{System Layer}
350 \label{sec-system-layer}
351 This layer contains system files with data types definitions, clock definitions,
352 interrupts mapping, MCU start-up sequence, MCU selftests, and other low level
353 code for controlling some of the MCU peripherals. The source files can be found
354 in \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/sys}, the header files can
355 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/sys}
358 Large part of this layer was generated by the HalCoGen tool (see
359 Section~\ref{sec-halcogen}).
361 \subsection{Drivers layer}
362 \label{sec-drivers-layer}
363 The Drivers layer contains code for controlling the RPP peripherals.
364 Typically, it contains code implementing IRQ handling, software
365 queues, management threads, etc. The layer benefits from the lower
366 layers thus it is not too low level, but still there are some
367 peripherals like ADC, which need some special procedure for
368 initialization and running, that would not be very intuitive for the
371 The source files can be found in
372 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
373 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/drv} folder.
375 \subsection{RPP Layer}
376 \label{sec-rpp-layer}
377 The RPP Layer is the highest layer of the library. It provides an easy
378 to use set of functions for every peripheral and requires only basic
379 knowledge about them. For example, to use the ADC, the user can just
380 call \texttt{rpp\_adc\_init()} function and it calls a sequence of
381 Driver layer functions to initialize the hardware and software.
383 The source files can be found in
384 \texttt{$\langle$rpp\_lib$\rangle$/rpp/src/rpp} and the header files can
385 be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/rpp}.
387 \section{Document structure}
388 \label{sec-document-structure}
389 The structure of this document is as follows:
390 Chapter~\ref{chap-getting-started} gets you started using the RPP
391 software. Chapter~\ref{chap-c-support-library} describes the RPP
392 library. Chapter~\ref{chap-simulink-coder-target} covers the Simulink
393 code generation target and finally
394 Chapter~\ref{chap-rpp-test-software} documents a tool for interactive
395 testing of the RPP functionality.
397 \chapter{Getting started}
398 \label{chap-getting-started}
400 \section{Software requirements}
401 \label{sec-software-requirements}
402 The RPP software stack can be used on Windows and Linux platforms. The
403 following subsections mention the recommended versions of the required
404 software tools/packages.
406 \subsection{Linux environment}
407 \label{sec-linux-environment}
409 \item Debian based 64b Linux distribution (Debian 7.0 or Ubuntu 14.4 for
411 \item Kernel version 3.11.0-12.
412 \item GCC version 4.8.1
413 \item GtkTerm 0.99.7-rc1
414 \item TI Code Composer Studio 5.5.0.00077
415 \item Matlab 2013b 64b with Embedded Coder
416 \item HalCoGen 4.00 (optional)
417 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
418 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
419 \item Git 1.7.10.4 (optional)
422 \subsection{Windows environment}
423 \label{sec-windows-environment}
425 \item Windows 7 Enterprise 64b Service Pack 1.
426 \item Microsoft Windows SDK v7.1
427 \item Bray Terminal v1.9b
428 \item TI Code Composer Studio 5.5.0.00077
429 \item Matlab 2013b 64b with Embedded Coder
430 \item HalCoGen 4.00 (optional)
431 \item Doxygen 1.8.4 (optional, see Section \ref{sec-compiling-api-documentation})
432 \item Uncrustify 0.59 (optional, see Section \ref{sec-compilation})
433 \item Git 1.9.4.msysgit.2 (optional)
436 \section{Software tools}
437 \label{sec-software-and-tools}
439 This section covers tool which are needed or recommended for work with
442 \subsection{TI Code Composer Studio}
444 Code Composer Studio (CCS) is the official Integrated Development Environment
445 (IDE) for developing applications for Texas Instruments embedded processors. CCS
446 is multiplatform software based on
447 Eclipse open source IDE.
449 CCS includes Texas Instruments Code Generation Tools (CGT)
450 \cite{armoptimizingccppcompiler2012, armassemblylanguagetools2012}
451 (compiler, linker, etc). Simulink code generation target requires the
452 CGT to be available in the system, and thus, even if no library
453 development will be done or the IDE is not going to be used CCS is
456 You can find documentation for CGT compiler in \cite{armoptimizingccppcompiler2012} and
457 for CGT archiver in \cite{armassemblylanguagetools2012}.
459 \subsubsection{Installation on Linux}
460 \label{sec-installation-on-linux}
461 Download CCS for Linux from:\\
462 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
464 Once downloaded, add executable permission to the installation file
465 and launch the installation by executing it. Installation must be done
466 by the root user in order to install a driver set.
468 \lstset{language=bash}
470 chmod +x ccs_setup_5.5.0.00077.bin
471 sudo ./ccs_setup_5.5.0.00077.bin
474 After installation the application can be executed with:
476 \lstset{language=bash}
478 cd <ccs>/ccsv5/eclipse/
482 The first launch on 64bits systems might fail. This can happen because CCS5 is
483 a 32 bit application and thus requires 32 bit libraries. They can be
486 \lstset{language=bash}
488 sudo apt-get install libgtk2.0-0:i386 libxtst6:i386
491 If the application crashes with a segmentation fault edit file:
493 \lstset{language=bash}
495 nano <ccs>/ccsv5/eclipse/plugins/com.ti.ccstudio.branding_<version>/plugin_customization.ini
498 And change key \texttt{org.eclipse.ui/showIntro} to \texttt{false}.
500 \subsubsection{Installation on Windows}
501 \label{sec-installation-on-windows}
502 Installation for Windows is more straightforward than the installation
503 procedure for Linux. Download CCS for Windows from:\\
504 \url{http://processors.wiki.ti.com/index.php/Category:Code\_Composer\_Studio\_v5}
506 Once downloaded run the ccs\_setup\_5.5.0.00077.exe and install the CCS.
508 \subsubsection{First launch}
509 \label{sec-first-launch}
510 If no other licence is available, choose ``FREE License -- for use
511 with XDS100 JTAG Emulators'' from the licensing options. Code download
512 for the board uses the XDS100 hardware.
514 \subsection{Matlab/Simulink}
515 \label{sec-matlab-simulink}
516 Matlab Simulink is a set of tools, runtime environment and development
517 environment for Model--Based \cite{modelbasedwiki2013} applications development,
518 simulations and code generation for target platforms. Supported Matlab Simulink
519 version is R2013b for 64 bits Linux and Windows. A licence for an Embedded Coder is
520 necessary to be able to generate code from Simulink models, containing RPP blocks.
522 \subsection{HalCoGen}
524 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.
526 The tool is available for Windows at
528 \url{http://www.ti.com/tool/halcogen}
531 The HalCoGen has been used in early development stage of the RPP
532 project to generate the base code for some of the peripheral. The
533 trend is to not to use the HalCoGen any more, because the generated
534 code is not reliable enough for safety critical applications. Anyway it is
535 sometimes helpful to use it as a reference.
537 The HalCoGen is distributed for Windows only, but can be run on Linux
538 under Wine (tested with Wine version 1.6.2).
540 \subsection{GtkTerm and Bray Terminal}
541 \label{sec-gtkterm-bray-terminal}
542 Most of the interaction with the board is done through a RS-232 serial
543 connection. The terminal software used for communication is called GtkTerm for
544 Linux and Bray terminal for Windows.
546 To install GtkTerm execute:
548 \lstset{language=bash}
550 sudo apt-get install gtkterm
553 The Bray Terminal does not require any installation and the executable file is
555 \url{https://sites.google.com/site/terminalbpp/}
557 \subsection{C Compiler}
558 \label{sec-c-compiler}
559 A C language compiler has to be available on the development system to be able to
560 compile Matlab Simulink blocks S-functions.
562 For Linux a GCC 4.8.1 compiler is recommended and can be installed with a
565 \lstset{language=bash}
567 sudo apt-get install gcc
570 For Windows, the C/C++ compiler is a part of Windows SDK, which is available from\\
571 \url{http://www.microsoft.com/en-us/download/details.aspx?id=8279}
573 \section{Project installation}
574 \label{sec-project-installation}
575 The RPP software is distributed in three packages and a standalone pdf
576 file containing this documentation. Every package is named like
577 \emph{$\langle$package\_name$\rangle$-version.zip}. The three packages
581 \item[rpp-simulink] Contains the source code of Matlab Simulink
582 blocks, demo models and scripts for downloading the generated
583 firmware to the target board from Matlab/Simulink. Details can be
584 found in Chapter \ref{chap-simulink-coder-target}.
586 The package also contains the binary of the RPP Library and all its
587 headers and other files necessary for building and downloading
589 \item[rpp-test-sw] Contains an application for interactive testing and
590 control of the \tgtBoardName{} board over the serial interface. Details can be
591 found in Chapter~\ref{chap-rpp-test-software}.
593 The package also contains the binary of the RPP Library and all
594 headers and other files necessary for building and downloading the
596 \item[rpp-lib] Contains the source code of the RPP library, described
597 in Chapter \ref{chap-c-support-library}. If you want to make any
598 changes in the drivers or the RPP API, this library has to be
599 compiled and linked with applications in the other two packages.
600 Library compilation is described in Section \ref{sec-compilation}.
603 The following sections describe how to start working with individual
606 \ifx\tgtId\tgtIdTMSRPP
607 \subsection{Getting sources from git repository}
609 git clone --recursive git@rtime.felk.cvut.cz:jenkicar/rpp-simulink
611 If you get release packages, follow the instructions in the next sections.
614 \subsection{rpp-simulink}
615 \label{sec-rpp-simulink-installation}
616 This section describes how to install the rpp-simulink project, which
617 is needed to try the demo models or to build your own models that use
621 \item Unzip the \texttt{rpp-simulink-version.zip} file.
622 \item Follow the procedure from Section
623 \ref{sec-configuration-simulink-for-rpp} for configuring Matlab
624 Simulink for the RPP project.
625 \item Follow the procedure from Section \ref{sec-crating-new-model}
626 for instructions about creating your own model which will use the
627 RPP Simulink blocks or follow the instructions in
628 Section~\ref{sec-running-model-on-hw} for downloading the firmware to the RPP hardware.
631 \subsection{rpp-test-sw}
632 \label{sec-test-sw-installation}
633 This section describes how to install and run the application that
634 allows you to interactively control the RPP hardware. This can be
635 useful, for example, to test your modifications of the RPP library.
638 \item Unzip the \texttt{rpp-test-sw-version.zip} file.
639 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
640 \item Import the \texttt{rpp-test-sw} project as described in
641 Section \ref{sec-openning-of-existing-project}.
642 \item Right click on the \texttt{rpp-test-sw} project in the
643 \textsc{Project Explorer} and select \textsc{Build Project}.
644 \item Follow the instructions in
645 Section~\ref{sec-running-software-on-hw} to download, debug and
646 run the software on the target hardware.
650 \label{sec-rpp-lib-installation}
652 This section describes how to open the rpp-lib project in Code
653 Composer Studio and how to use the resulting static library in an
654 application. This is only necessary if you need to modify the library
658 \item Unzip the \texttt{rpp-lib-version.zip} file.
659 \item Open the Code Composer Studio (see Section \ref{sec-ti-ccs}).
660 \item Import the rpp-lib project from directory
661 \texttt{rpp-lib-XXX/build/\tgtId} as described in
662 Section~\ref{sec-openning-of-existing-project}.
663 \item Compile the static library by selecting \textsc{Project
664 $\rightarrow$ Build Project} (see Section
665 \ref{sec-compilation} for more information). The compiled
666 library \texttt{rpp-lib.lib} and file
667 \texttt{Makefile.config} will appear in the
668 \texttt{rpp-lib-XXX} directory.
669 \item Either copy the compiled library and the content of the
670 \texttt{rpp/include} directory to the application, where you
671 want to use it or use the library in place, as described in
672 Section~\ref{sec:creating-new-project}.
674 \item In the rpp-simulink application the library is located in
675 the \texttt{rpp/lib} folder.
676 \item In the rpp-test-sw application the library is located in
677 the \texttt{rpp-lib} folder.
681 \section{Code Composer Studio usage}
682 \label{sec-code-composerpstudio-usage}
684 \subsection{Opening an existing project}
685 \label{sec-openning-of-existing-project}
686 The procedure for opening a project is similar to opening a project in
687 the standard Eclipse IDE.
690 \item Launch Code Composer Studio
691 \item Select \textsc{File$\rightarrow$Import}
692 \item In the dialog window select \textsc{Code Composer
693 Studio$\rightarrow$Existing CCS Eclipse project} as an import
694 source (see Figure \ref{fig-import-project}).
695 \item In the next dialog window click on \textsc{Browse} button
696 and find the root directory of the project.
697 \item Select the requested project in the \textsc{Discovered
698 project} section so that the result looks like in Figure
699 \ref{fig-select-project}.
700 \item Click the \textsc{Finish} button.
703 \begin{figure}[H]\begin{center}
704 \includegraphics[width=350px]{images/import_project.png}
705 \caption{Import project dialog}
706 \label{fig-import-project}
707 \end{center}\end{figure}
709 \begin{figure}[H]\begin{center}
710 \includegraphics[width=350px]{images/select_project.png}
711 \caption{Select project dialog}
712 \label{fig-select-project}
713 \end{center}\end{figure}
716 \subsection{Creating new project}
717 \label{sec:creating-new-project}
718 Follow these steps to create an application for \tgname{} MCU compiled with
722 \item Create a new empty CCS project. Select \mcuname{} device, XDS100v2
723 connection and set Linker command file to
724 \texttt{rpp-lib/build/\tgtId/\ldscriptname}.
726 \noindent\includegraphics[scale=0.45]{images/base_1.png}
728 \item In \textsc{Project Explorer}, create normal folders
729 named \texttt{include} and \texttt{src}.
731 \item If you use Git version control system, add \texttt{.gitignore}
732 file with the following content to the root of that project:
741 \item In project \textsc{Properties}, add new variable of type
742 \texttt{Directory} named \texttt{RPP\_LIB\_ROOT} and set it to the
746 \noindent\includegraphics[scale=.45]{images/base_2.png}
748 \item Configure the compiler \#include search path to contain
749 project's \texttt{include} directory, \penalty-100
750 \texttt{\$\{RPP\_LIB\_ROOT\}/os/7.0.2/include} and
751 \texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
753 \includegraphics[scale=.43]{images/base_5.png}
756 \item Add \texttt{\$\{RPP\_LIB\_ROOT\}/rpp-lib.lib} to the list of
757 linked libraries before the runtime support library
758 (\texttt{\tgtRtlib}).
760 \noindent\includegraphics[scale=.45]{images/base_3.png}
762 \item Configure the compiler to allow GCC extensions.
764 \noindent\includegraphics[scale=.45]{images/base_6.png}
767 \item Create \texttt{main.c} file with the following content:
768 \begin{lstlisting}[language=C]
774 rpp_sci_printf("Hello world\n");
775 vTaskStartScheduler();
776 return 0; /* not reached */
779 void vApplicationMallocFailedHook()
781 void vApplicationStackOverflowHook()
785 \item Compile the application by e.g. \textsc{Project $\rightarrow$
787 \item Select \textsc{Run} $\rightarrow$ \textsc{Debug}. The
788 application will be downloaded to the processor and run. A
789 breakpoint is automatically placed at \texttt{main()} entry. To
790 continue executing the application select \textsc{Run} $\rightarrow$
792 \item If your application fails to run with a \texttt{\_dabort} interrupt, check
793 that the linker script selected in step 1 is not excluded from the build.
794 You can do this by right clicking the \texttt{\ldscriptname} file
795 in the \textsc{Project Explorer} and unchecking the \textsc{Exclude from build}
796 item. The Code Composer Studio sometimes automaticaly excludes this file from
797 the build process when creating a new project.
799 % \item If not already created for another project, create new target
800 % configuration. Select \textsc{Windows $\rightarrow$ Show View
801 % $\rightarrow$ Target Configurations}. In the shown window, click
802 % on \textsc{New Target Configuration} icon and configure XDS100v2
803 % connection and \mcuname{} device as shown below. Click \textsc{Save},
804 % connect your board and click \textsc{Test Connection}.
807 % \includegraphics[width=\linewidth]{images/target_conf.png}
810 \item Optionally, you can change debugger configuration by selecting
811 \textsc{Run $\rightarrow$ Debug Configurations}. In the
812 \textsc{Target} tab, you can configure not to break at \texttt{main}
813 or not to erase the whole flash, but necessary sectors only (see the
816 \includegraphics[width=\linewidth]{images/debug_conf_flash.png}
821 %% Comment this out for Eaton
822 % \subsubsection{Steps to configure new POSIX application:}
823 % Such an application can be used to test certain FreeRTOS features on
824 % Linux and can be compiled with a native GCC compiler.
826 % \begin{compactenum}
827 % \item Create a new managed C project that uses Linux GCC toolchain.
828 % \item Create a source folder \texttt{src}. Link all files from original
829 % CCS application to this folder.
830 % \item Create a normal folder \texttt{include}. Create a folder
831 % \texttt{rpp} inside of it.
832 % \item Add common \texttt{.gitignore} to the root of that project:
839 % \item Add new variable \texttt{RPP\_LIB\_ROOT} and point to this
840 % repository branch root.\newline{}
841 % \noindent\includegraphics[width=\linewidth]{images/base_posix_1.png}
842 % \item Configure compiler to include local includes, CCS application
843 % includes, OS includes for POSIX and RPP includes, in that order.\newline{}
844 % \noindent\includegraphics[width=\linewidth]{images/base_posix_2.png}
846 % \item Add \texttt{rpp} and \texttt{pthread} to linker libraries and add
847 % \texttt{RPP\_LIB\_ROOT} to the library search path.\newline{}
848 % \noindent\includegraphics[width=\linewidth]{images/base_posix_3.png}
851 \subsubsection{Content of the application}
854 \item Include RPP library header file.
855 \lstset{language=c++}
860 If you want to reduce the size of the final application, you can
861 include only the headers of the needed modules. In that case, you
862 need to include two additional headers: \texttt{base.h} and, in case
863 when SCI is used for printing, \texttt{rpp/sci.h}.
865 #include "rpp/hbr.h" /* We want to use H-bridge */
866 #include <base.h> /* This is the necessary base header file of the rpp library. */
867 #include "rpp/sci.h" /* This is needed, because we use rpp_sci_printf in following examples. */
871 \item Create one or as many FreeRTOS task function definitions as
872 required. Those tasks can use functions from the RPP library. Beware
873 that currently not all RPP functions are
874 reentrant\footnote{Determining which functions are not reentrant and
875 marking them as such (or making them reentrant) is planned as
876 future work.}. \lstset{language=c++}
878 void my_task(void* p)
880 static const portTickType freq_ticks = 1000 / portTICK_RATE_MS;
881 portTickType last_wake_time = xTaskGetTickCount();
883 /* Wait until next step */
884 vTaskDelayUntil(&last_wake_time, freq_ticks);
885 rpp_sci_printf((const char*)"Hello RPP.\r\n");
890 \item Create the main function that will:
892 \item Initialize the RPP board. If you have included only selected
893 modules in step 1, initialize only those modules by calling their init
895 example \texttt{rpp\_hbr\_init\(\)}.
896 \item Spawn the tasks the application requires. Refer to FreeRTOS API
898 \item Start the FreeRTOS Scheduler. Refer to FreeRTOS API for details
900 \item Handle error when the FreeRTOS scheduler cannot be started.
902 \lstset{language=c++}
906 /* In case whole library is included: */
907 /* Initialize RPP board */
909 /* In case only selected modules are included: */
912 /* Initialize sci for printf */
914 /* Enable interrups */
918 if (xTaskCreate(my_task, (const signed char*)"my_task",
919 512, NULL, 0, NULL) != pdPASS) {
921 rpp_sci_printf((const char*)
922 "ERROR: Cannot spawn control task.\r\n"
928 /* Start the FreeRTOS Scheduler */
929 vTaskStartScheduler();
931 /* Catch scheduler start error */
933 rpp_sci_printf((const char*)
934 "ERROR: Problem allocating memory for idle task.\r\n"
942 \item Create hook functions for FreeRTOS:
944 \item \texttt{vApplicationMallocFailedHook()} allows to catch memory allocation
946 \item \texttt{vApplicationStackOverflowHook()} allows to catch stack
949 \lstset{language=c++}
951 #if configUSE_MALLOC_FAILED_HOOK == 1
953 * FreeRTOS malloc() failed hook.
955 void vApplicationMallocFailedHook(void) {
957 rpp_sci_printf((const char*)
958 "ERROR: manual memory allocation failed.\r\n"
965 #if configCHECK_FOR_STACK_OVERFLOW > 0
967 * FreeRTOS stack overflow hook.
969 void vApplicationStackOverflowHook(xTaskHandle xTask,
970 signed portCHAR *pcTaskName) {
972 rpp_sci_printf((const char*)
973 "ERROR: Stack overflow : \"%s\".\r\n", pcTaskName
985 \subsection{Downloading and running the software}
986 \label{sec-running-software-on-hw}
987 \subsubsection{Code Composer Studio Project}
988 \label{sec-ccs-run-project}
989 When an application is distributed as a CCS project, you have to open the
990 project in the CCS as described in the Section
991 \ref{sec-openning-of-existing-project}. Once the project is opened and built, it
992 can be easily downloaded to the target hardware with the following procedure:
995 \ifx\tgtId\tgtIdTMSRPP
996 \item Connect the Texas Instruments XDS100v2 USB emulator to the JTAG port.
997 \item Connect a USB cable to the XDS100v2 USB emulator and the development computer.
999 \item Connect the USB cable to the \tgtBoardName{} board.
1001 \item Plug in the power supply.
1002 \item In the Code Composer Studio click on the
1003 \textsc{Run$\rightarrow$Debug}. The project will be optionally built and
1004 the download process will start. The Code Composer Studio will switch into the debug
1005 perspective, when the download is finished.
1006 \item Run the program by clicking on the \textsc{Run} button, with the
1010 \subsubsection{Binary File}
1011 \label{sec-binary-file}
1012 If the application is distributed as a binary file, without source code and CCS
1013 project files, you can download and run just the binary file by creating a new
1014 empty CCS project and configuring the debug session according to the following
1018 \item In Code Composer Studio click on
1019 \textsc{File$\rightarrow$New$\rightarrow$CCS Project}.
1020 \item In the dialog window, type in a project name, for example
1021 myBinaryLoad, Select \textsc{Device
1022 variant} (ARM, Cortex R, \mcuname, Texas Instruments XDS100v2 USB Emulator)
1023 and select project template to \textsc{Empty Project}. The filled dialog should
1024 look like in Figure~\ref{fig-new-empty-project}
1025 \item Click the \textsc{Finish} button and a new empty project will
1027 \item In the \textsc{Project Explorer} right-click on the project and
1028 select \textsc{Debug as$\rightarrow$Debug configurations}.
1029 \item Click \textsc{New launch configuration} button
1030 \item Rename the New\_configuration to, for example, myConfiguration.
1031 \item Select configuration target file by clicking the \textsc{File
1032 System} button, finding and selecting the \texttt{rpp-lib-XXX/build/\tgtId/\tgconfigfilename} file. The result
1033 should look like in Figure~\ref{fig-debug-conf-main-diag}.
1034 \item In the \textsc{program} pane select the binary file you want to
1035 download to the board. Click on the \textsc{File System} button,
1036 find and select the binary file. Try, for example
1037 \texttt{rpp-test-sw.out}. The result should look like in
1038 Figure~\ref{fig-debug-conf-program-diag}.
1039 \item You may also tune the target configuration as described in
1040 Section \ref{sec-target-configuration}.
1041 \item Finish the configuration by clicking the \textsc{Apply} button
1042 and download the code by clicking the \textsc{Debug} button. You can
1043 later invoke the download also from the
1044 \textsc{Run$\rightarrow$Debug} CCS menu. It is not necessary to
1045 create more Debug configurations and CCS empty projects as you can
1046 easily change the binary file in the Debug configuration to load a
1047 different binary file.
1050 \begin{figure}[H]\begin{center}
1051 \includegraphics[scale=.45]{images/new_empty_project.png}
1052 \caption{New empty project dialog}
1053 \label{fig-new-empty-project}
1054 \end{center}\end{figure}
1056 \begin{figure}[H]\begin{center}
1057 \includegraphics[scale=.45]{images/debug_configuration_main.png}
1058 \caption{Debug Configuration Main dialog}
1059 \label{fig-debug-conf-main-diag}
1060 \end{center}\end{figure}
1062 \subsection{Target configuration}
1063 \label{sec-target-configuration}
1064 Default target configuration erases the whole Flash memory, before
1065 downloading the code. This takes long time and in most cases it is
1066 not necessary. You may disable this feature by the following procedure:
1068 \item Right click on the project name in the \textsc{Project Browser}
1069 \item Select \textsc{Debug as$\rightarrow$Debug Configurations}
1070 \item In the dialog window select \textsc{Target} pane.
1071 \item In the \textsc{Flash Settings}, \textsc{Erase Options} select
1072 \textsc{Necessary sectors only}.
1073 \item Save the configuration by clicking the \textsc{Apply} button
1074 and close the dialog.
1077 \begin{figure}[H]\begin{center}
1078 \includegraphics[scale=.45]{images/debug_configuration_program.png}
1079 \caption{Configuration Program dialog}
1080 \label{fig-debug-conf-program-diag}
1081 \end{center}\end{figure}
1083 \section{Matlab Simulink usage}
1084 \label{sec-matlab-simulink-usage}
1085 This section describes the basics of working with the RPP code
1086 generation target for Simulink. For a more detailed description of the
1087 code generation target refer to
1088 Chapter~\ref{chap-simulink-coder-target}.
1090 \subsection{Configuring Simulink for RPP}
1091 \label{sec-configuration-simulink-for-rpp}
1092 Before any work or experiments with the RPP blocks and models, the RPP
1093 target has to be configured to be able to find the ARM cross-compiler,
1094 native C compiler and some other necessary files. Also the S-Functions
1095 of the blocks have to be compiled by the mex tool.
1097 \item Download and install Code Composer Studio CCS (see
1098 Section~\ref{sec-ti-ccs}).
1099 \item Install a C compiler. On Windows follow Section~\ref{sec-c-compiler}.
1100 \item On Windows you have to tell the \texttt{mex} which C compiler to
1101 use. In the Matlab command window run the \texttt{mex -setup}
1102 command and select the native C compiler.
1104 \begin{lstlisting}[basicstyle=\tt\footnotesize]
1107 Welcome to mex -setup. This utility will help you set up
1108 a default compiler. For a list of supported compilers, see
1109 http://www.mathworks.com/support/compilers/R2013b/win64.html
1111 Please choose your compiler for building MEX-files:
1113 Would you like mex to locate installed compilers [y]/n? y
1116 [1] Microsoft Software Development Kit (SDK) 7.1 in c:\Program Files (x86)\Microsoft Visual Studio 10.0
1122 Please verify your choices:
1124 Compiler: Microsoft Software Development Kit (SDK) 7.1
1125 Location: c:\Program Files (x86)\Microsoft Visual Studio 10.0
1127 Are these correct [y]/n? y
1129 ***************************************************************************
1130 Warning: MEX-files generated using Microsoft Windows Software Development
1131 Kit (SDK) require that Microsoft Visual Studio 2010 run-time
1132 libraries be available on the computer they are run on.
1133 If you plan to redistribute your MEX-files to other MATLAB
1134 users, be sure that they have the run-time libraries.
1135 ***************************************************************************
1138 Trying to update options file: C:\Users\Michal\AppData\Roaming\MathWorks\MATLAB\R2013b\mexopts.bat
1139 From template: C:\PROGRA~1\MATLAB\R2013b\bin\win64\mexopts\mssdk71opts.bat
1143 **************************************************************************
1144 Warning: The MATLAB C and Fortran API has changed to support MATLAB
1145 variables with more than 2^32-1 elements. In the near future
1146 you will be required to update your code to utilize the new
1147 API. You can find more information about this at:
1148 http://www.mathworks.com/help/matlab/matlab_external/upgrading-mex-files-to-use-64-bit-api.html
1149 Building with the -largeArrayDims option enables the new API.
1150 **************************************************************************
1153 \item Configure the RPP code generation target:
1155 Open Matlab and in the command window run:
1157 \lstset{language=Matlab}
1159 cd <rpp-simulink>/rpp/rpp/
1163 This will launch the RPP setup script. This script will ask the user to provide
1164 the path to the CCS compiler root directory (the directory where \texttt{armcl}
1165 binary is located), normally:
1168 <ccs>/tools/compiler/arm_5.X.X/
1171 Then Matlab path will be updated and block S-Functions will be built.
1173 \item Create new model or load a demo:
1175 Demos are located in \texttt{\repo/rpp/demos}. Creation of new
1176 models is described in Section~\ref{sec-crating-new-model} below.
1180 \subsection{Working with demo models}
1181 \label{sec-openning-demo-models}
1182 The demo models are available from the directory
1183 \texttt{\repo/rpp/demos}. To access the demo models for reference or
1184 for downloading to the RPP board open them in Matlab. Use either the
1185 GUI or the following commands:
1187 \begin{lstlisting}[language=Matlab]
1188 cd <rpp-simulink>/rpp/demos
1189 open cantransmit.slx
1192 The same procedure can be used to open any other models. To build the
1193 demo select \textsc{Code$\rightarrow$C/C++ Code $\rightarrow$Build
1194 Model}. This will generate the C code and build the binary firmware
1195 for the RPP board. To run the model on the target hardware see
1196 Section~\ref{sec-running-model-on-hw}.
1198 \subsection{Creating new model}
1199 \label{sec-crating-new-model}
1201 \item Create a model by clicking \textsc{New$\rightarrow$Simulink Model}.
1202 \item Open the configuration dialog by clicking \textsc{Simulation$\rightarrow$Model Configuration Parameters}.
1203 \item The new Simulink model needs to be configured in the following way:
1205 \item Solver (Figure \ref{fig-solver}):
1207 \item Solver type: \emph{Fixed-step}
1208 \item Solver: \emph{discrete}
1209 \item Fixed-step size: \emph{Sampling period in seconds. Minimum
1213 \item \textit{Auto} selects SingleTasking mode for single-rate model or MultiTasking mode
1214 for multi-rate model. See Section \ref{sec-singlet-multit-modes}
1215 \item \textit{SingleTasking} for SingleTasking mode. See Section \ref{sec-singlet-mode} for details.
1216 \item \textit{MultiTasking} for MultiTasking mode. When selected, the
1217 \textit{Higher priority value indicates higher task priority} should be also checked. See Section \ref{sec-multit-mode} for details.
1222 \includegraphics[scale=.45]{images/simulink_solver.png}
1223 \caption{Solver settings}
1227 % \item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig-sample-time-settings}):
1228 % \begin{compactitem}
1229 % \item Disable warning ``Source block specifies -1 sampling
1230 % time''. It's ok for the source blocks to run once per tick.
1233 % \includegraphics[scale=.45]{images/simulink_diagnostics.png}
1234 % \caption{Sample Time settings}
1235 % \label{fig-sample-time-settings}
1238 \item Code generation (Figure~\ref{fig-code-gen-settings}):
1240 \item Set ``System target file'' to \texttt{rpp.tlc}.
1243 \includegraphics[scale=.45]{images/simulink_code.png}
1244 \caption{Code Generation settings}
1245 \label{fig-code-gen-settings}
1249 \item Once the model is configured, you can open the Library Browser
1250 (\textsc{View $\rightarrow$ Library Browser}) and add the necessary
1251 blocks to create the model. The RPP-specific blocks are located in
1252 the RPP Block Library.
1253 \item From Matlab command window change the current directory to where
1254 you want your generated code to appear, e.g.:
1255 \begin{lstlisting}[language=Matlab]
1258 The code will be generated in a subdirectory named
1259 \texttt{<model>\_rpp}, where \texttt{model} is the name of the
1261 \item Generate the code by choosing \textsc{Code $\rightarrow$ C/C++
1262 Code $\rightarrow$ Build Model}.
1265 To run the model on the \tgtBoardName{} board continue with Section
1266 \ref{sec-running-model-on-hw}.
1268 \subsection{Running models on the RPP board}
1269 \label{sec-running-model-on-hw}
1270 To run the model on the \tgtBoardName{} hardware you have to enable the download
1271 feature and build the model by following this procedure:
1273 \item Open the model you want to run (see
1274 Section~\ref{sec-openning-demo-models} for example with demo
1276 \item Click on \textsc{Simulation$\rightarrow$Model Configuration
1278 \item In the \textsc{Code Generation$\rightarrow$RPP Options} pane
1279 check the \textsc{Download compiled binary to RPP} checkbox. Click
1280 the \textsc{OK} button
1281 \item Connect the target hardware to the computer (see Section
1282 \ref{sec-ccs-run-project}) and build the model by \textsc{Code
1283 $\rightarrow$ C/C++ Code $\rightarrow$ Build Model}. If the build
1284 succeeds, the download process will start automatically and once
1285 the downloading is finished, the application will run immediately.
1288 %%\subsubsection{Using OpenOCD for downloading}
1289 %%\label{sec:using-open-downl}
1291 %%On Linux systems, it is possible to use an alternative download
1292 %%mechanism based on the OpenOCD tool. This results in much shorter
1293 %%download times. Using OpenOCD is enabled by checking ``Use OpenOCD to
1294 %%download the compiled binary'' checkbox. For more information about
1295 %%the OpenOCD configuration refer to our
1296 %%wiki\footnote{\url{http://rtime.felk.cvut.cz/hw/index.php/TMS570LS3137\#OpenOCD_setup_and_Flashing}}.
1298 %%Note: You should close any ongoing Code Composer Studio debug sessions
1299 %%before downloading the generated code to the RPP board. Otherwise the
1302 \section{Configuring serial interface}
1303 \label{sec-configuration-serial-interface}
1304 The main mean for communication with the RPP board is the serial line.
1305 Each application may define its own serial line settings, but the
1306 following settings are the default:
1309 \item Baudrate: 115200
1313 \item Flow control: none
1316 Use GtkTerm on Linux or Bray Terminal on Windows for accessing the
1317 serial interface. On \tgtBoardName{} board, the serial line is tunneled over
1319 % TODO: Conditional compilation
1320 % See Section \ref{sec-hardware-description} for reference about
1321 % the position of the serial interface connector on the RPP board.
1323 \section{Bug reporting}
1324 \label{sec-bug-reporting}
1326 Please report any problems to CTU's bug tracking system at
1327 \url{https://redmine.felk.cvut.cz/projects/eaton-rm48}. New users have
1328 to register in the system and notify Michal Sojka about their
1329 registration via $\langle{}sojkam1@fel.cvut.cz\rangle{}$ email
1332 \chapter{C Support Library}
1333 \label{chap-c-support-library}
1335 This chapter describes the implementation of the C support library
1336 (RPP Library), which is used both for Simulink code generation target
1337 and command line testing tool.
1339 \section{Introduction}
1340 \label{sec-description}
1341 The RPP C Support Library (also called RPP library) defines the API for
1342 working with the board. It includes drivers and the operating system.
1344 designed from the board user perspective and exposes a simplified high-level API
1345 to handle the board's peripheral modules in a safe manner. The library is
1346 compiled as static library named \texttt{rpp-lib.lib} and can be found in
1347 \texttt{\repo/rpp/lib}.
1349 The RPP library can be used in any project, where the RPP hardware
1350 support is required and it is also used in two applications --
1351 Simulink Coder Target, described in Chapter
1352 \ref{chap-simulink-coder-target}, and the command line testing tool,
1353 described in Chapter \ref{chap-rpp-test-software}.
1355 For details about the library architecture, refer to Section~\ref{sec-software-architecture}.
1357 \section{API development guidelines}
1358 \label{sec-api-development-guidlines}
1360 The following are the development guidelines used for developing the RPP API:
1363 \item User documentation should be placed in header files, not in source
1364 code, and should be Doxygen formatted using autobrief. Documentation for each
1365 function present is mandatory.
1366 \item Function declarations in the headers files is for public functions
1367 only. Do not declare local/static/private functions in the header.
1368 \item Documentation in source code files should be non-doxygen formatted
1369 and intended for developers, not users. Documentation here is optional and at
1370 the discretion of the developer.
1371 \item Always use standard data types for IO when possible. Use custom
1372 structs as very last resort. \item Use prefix based functions names to avoid
1373 clash. The prefix is of the form \texttt{$\langle$layer$\rangle$\_$\langle$module$\rangle$\_}, for example
1374 \texttt{rpp\_din\_update()} for the update function of the DIN module in the RPP
1376 \item Be very careful about symbol export. Because it is used as a
1377 static library the modules should not export any symbol that is not intended to
1378 be used (function) or \texttt{extern}'ed (variable) from application. As a rule
1379 of thumb declare all global variables as static.
1380 \item Only the RPP Layer symbols are available to user applications. All
1381 information related to lower layers is hidden for the application. This is
1382 accomplished by the inclusion of the rpp.h or rpp\_\{mnemonic\}.h file on the
1383 implementations files only and never on the interface files. Never expose any
1384 other layer to the application or to the whole system below the RPP layer. In
1385 other words, never \texttt{\#include "foo/bar.h"} in any RPP Layer header
1389 \section{Coding style}
1390 \label{sec-coding-style}
1391 In order to keep the code as clean as possible, unified coding style
1392 should be followed by any contributor to the code. The used coding
1393 style is based on the default configuration of Code Composer Studio
1394 editor. Most notable rule is that the Tab character is 4 spaces.
1396 The RPP library project is prepared for use of a tool named
1397 Uncrustify. The Uncrustify tool checks the code and fixes those lines
1398 that do not match the coding style. However, keep in mind that the
1399 program is not perfect and sometimes it can modify code where the
1400 suggested coding style has been followed. This does not causes
1401 problems as long as the contributor follows the committing procedure
1402 described in next paragraph.
1404 When contributing to the code, the contributor should learn the
1405 current coding style from existing code. When a new feature is
1406 implemented and committed to the local repository, the following
1407 commands should be called in Linux terminal:
1409 \begin{lstlisting}[language=bash]
1413 The first line command corrects many found coding style violations and
1414 the second command displays them. If the user agree with the
1415 modification, he/she should amend the last commit, for example by:
1416 \begin{lstlisting}[language=bash]
1421 \section{Subdirectory content description}
1422 \label{sec-rpp-lib-subdirectory-content-description}
1424 The following files and directories are present in the library source
1428 \item[rpp-lib.lib] Compiled RPP library.
1430 The library is needed for Simulink models and other ARM/\tgname{}
1431 applications. It is placed here by the Makefile, when the library is
1434 \item[apps/] Various applications related to the RPP library.
1436 This include the CCS studio project for generating of the static
1437 library and a test suite. The test suit in this directory has
1438 nothing common with the test suite described later in
1439 Chapter~\ref{chap-rpp-test-software} and those two suits are going
1440 to be merged in the future. Also other Hello World applications are
1441 included as a reference about how to create an \tgname{}
1443 \item[build] The library can be compiled for multiple targets. Each
1444 supported target has a subdirectory here, which stores configuration
1445 of how to compile the library and applications for different target.
1446 Each subdirectory contains a CCS project and Makefiles to build the
1447 library for the particular target.
1448 \item[build/$\langle$target$\rangle$/Makefile.config] Configuration
1449 for the particular target. This includes compiler and linker
1451 \item[build/$\langle$target$\rangle$/*.cmd]
1452 CGT Linker command file.
1454 This file is used by all applications that need to tun on the RPP
1455 board, including the Simulink models and test suite. It includes
1456 instructions for the CGT Linker about target memory layout and where
1457 to place various code sections.
1458 \item[os/] OS layers directory. See
1459 Section~\ref{sec-operating-system-layer} for more information about
1460 currently available operating system versions and
1461 Section~\ref{sec-changing-os} for information how to replace the
1463 \item[rpp/] Main directory for the RPP library.
1464 \item[rpp/doc/] RPP Library API
1466 \item[rpp/include/\{layer\} and rpp/src/\{layer\}] Interface files and
1467 implementations files for given \texttt{\{layer\}}. See
1468 Section~\ref{sec-software-architecture} for details on the RPP
1470 \item[rpp/include/rpp/rpp.h] Main library header file.
1472 To use this library with all its modules, just include this file
1473 only. Also, before using any library function call the
1474 \texttt{rpp\_init()} function for hardware initialization.
1475 \item[rpp/include/rpp/rpp\_\{mnemonic\}.h] Header file for
1476 \texttt{\{mnemonic\}} module.
1478 These files includes function definitions, pin definitions, etc,
1479 specific to \{mnemonic\} module. See also
1480 Section~\ref{sec-api-development-guidlines}.
1482 If you want to use only a subset of library functions and make the
1483 resulting binary smaller, you may include only selected
1484 \texttt{rpp\_\{mnemonic\}.h} header files and call the specific
1485 \texttt{rpp\_\{mnemonic\}\_init} functions, instead of the
1486 \texttt{rpp.h} and \texttt{rpp\_init} function.
1487 \item[rpp/src/rpp/rpp\_\{mnemonic\}.c] Module implementation.
1489 Implementation of \texttt{rpp\_\{mnemonic\}.h}'s functions on
1490 top of the DRV library.
1491 \item[rpp/src/rpp/rpp.c] Implementation of library-wide functions.
1494 \section{Compilation}
1495 \label{sec-compilation}
1497 To compile the library open the Code Composer studio project
1498 \texttt{rpp-lib} from appropriate \texttt{build/<target>} directory
1499 (see Section~\ref{sec-openning-of-existing-project}) and build the
1500 project (\textsc{Project $\rightarrow$ Build Project}). If the build
1501 process is successful, the \texttt{rpp-lib.lib} and
1502 \texttt{Makefile.config} files will appear in the library root
1505 It is also possible to compile the library using the included
1506 \texttt{Makefile}. From the Linux command line run:
1507 \begin{lstlisting}[language=bash]
1508 cd <library-root>/build/<target>/Debug #or Release
1511 Note that this only works if Code Composer Studio is installed in
1512 \texttt{/opt/ti} directory. Otherwise, you have to set
1513 \texttt{CCS\_UTILS\_DIR} variable.
1515 On Windows command line run:
1516 \begin{lstlisting}[language=bash]
1517 cd <library-root>\build\<target>\Debug
1518 set CCS_UTILS_DIR=C:\ti\ccsv5\utils
1519 C:\ti\ccsv5\utils\bin\gmake.exe lib
1522 You have to use \texttt{gmake.exe} instead of \texttt{make} and it is
1523 necessary to set variable \texttt{CCS\_UTILS\_DIR} manually. You can
1524 also edit \texttt{\repo/build/Makefile.rules.arm} and set the variable
1527 Note that the Makefile still requires the Code Composer Studio (ARM
1528 compiler) to be installed because of the CGT.
1530 \section{Compiling applications using the RPP library}
1531 \label{sec:comp-appl-using}
1533 The relevant aspects for compiling and linking an application using
1534 the RPP library are summarized below.
1536 % \subsection{ARM target (RPP board)}
1537 % \label{sec:arm-target-rpp}
1539 The detailed instructions are presented in
1540 Section~\ref{sec:creating-new-project}. Here we briefly repeat the
1544 \item Configure include search path to contain the directory of
1545 used FreeRTOS version, e.g.
1546 \texttt{\repo/os/7.0.2/include}. See Section
1547 \ref{sec-software-architecture}.
1548 \item Include \texttt{rpp/rpp.h} header file or just the needed
1549 peripheral specific header files such as \texttt{rpp/can.h}.
1550 \item Add library \texttt{rpp-lib.lib} to the linker libraries.
1551 The RPP library must be placed before Texas Instruments
1552 support library \tgtRtlib.
1553 \item Use the provided linker command file
1554 \texttt{\ldscriptname}.
1557 % \subsection{POSIX target}
1558 % \label{sec:posix-target}
1560 % \begin{compactitem}
1561 % \item Include headers files of the OS for Simulation. At the time
1562 % of this writing the OS is POSIX FreeRTOS 6.0.4.
1563 % \item Include header files for the RPP library or for modules you
1564 % want to use (rpp\_can.h for CAN module for example).
1565 % \item Add library \texttt{librpp.a} to the linker libraries.
1566 % \item Add \texttt{pthread} to the linker libraries.
1569 \section{Compiling API documentation}
1570 \label{sec-compiling-api-documentation}
1571 The documentation of the RPP layer is formatted using Doxygen
1572 documentation generator. This allows to generate a high quality API
1573 reference. To generate the API reference run in a Linux terminal:
1575 \lstset{language=bash}
1577 cd <repo>/rpp/doc/api
1579 xdg-open html/index.html
1582 The files under \texttt{\repo/rpp/doc/api/content} are used for the API
1583 reference generation are their name is self-explanatory:
1593 \section{Changing operating system}
1594 \label{sec-changing-os}
1595 The C Support Library contains by default the FreeRTOS operating
1596 system in version 7.0.2. This section describes what is necessary to
1597 change in the library and other packages in order to replace the
1600 \subsection{Operating system code and API}
1602 The source and header files of the current operating system (OS) are
1603 stored in directory \texttt{\repo/rpp/lib/os}. The files of the new
1604 operating system should also be placed in this directory.
1606 To make the methods and resources of the new OS available to the C Support
1607 Library, modify the \texttt{\repo/rpp/lib/rpp/include/base.h} file to include
1608 the operating system header files.
1610 Current implementation for FreeRTOS includes a header file
1611 \texttt{\repo/rpp/lib/os/\-7.0.2\-include/os.h}, which
1612 contains all necessary declarations and definitions for the FreeRTOS.
1613 We suggest to provide a similar header file for your operating system as
1616 In order to compile another operating system into the library, it is
1617 necessary to modify \texttt{\repo/rpp/lib/Makefile.var} file, which
1618 contains a list of files that are compiled into the library. All lines
1619 starting with \texttt{os/} should be updated.
1621 \subsection{Device drivers}
1622 Drivers for SCI and ADC depend on the FreeRTOS features. These
1623 features need to be replaced by equivalent features of the new
1624 operating system. Those files should be modified:
1626 \item[\repo/rpp/lib/rpp/include/sys/ti\_drv\_sci.h] Defines a data
1627 structure, referring to FreeRTOS queue and semaphore.
1628 \item[\repo/rpp/lib/rpp/src/sys/ti\_drv\_sci.c] Uses FreeRTOS queues
1630 \item[\repo/rpp/lib/rpp/include/drv/sci.h] Declaration of
1631 \texttt{drv\_sci\_receive()} contains \texttt{portTick\-Type}. We
1632 suggest replacing this with OS independent type, e.g. number of
1633 milliseconds to wait, with $-1$ meaning infinite waiting time.
1634 \item[\repo/rpp/lib/rpp/src/drv/sci.c] Uses the following FreeRTOS
1635 specific features: semaphores, queues, data types
1636 (\texttt{portBASE\_TYPE}) and
1637 critical sections (\texttt{taskENTER\_CRITICAL} and
1638 \texttt{task\-EXIT\_CRITICAL}). Inside FreeRTOS critical sections,
1639 task preemption is disabled. The same should be ensured by the other
1640 operating system or the driver should be rewritten to use other
1641 synchronization primitives.
1642 \item[\repo/rpp/lib/rpp/src/drv/adc.c] Uses FreeRTOS semaphores.
1645 \subsection{System start}
1646 The initialization of the MCU and the system is in the
1647 \texttt{\repo/rpp/lib/rpp/src/sys/sys\_startup.c} file. If the new
1648 operating system needs to handle interrupts generated by the Real-Time
1649 Interrupt module, the pointer to the Interrupt Service Routine (ISR)
1650 \texttt{vPreemptiveTick} has to be replaced.
1652 \subsection{Simulink template for main function}
1654 When the operating system in the library is replaced, the users of the
1655 library must be changed as well. In case of Simulink code generation
1656 target, described in Chapter~\ref{chap-simulink-coder-target}, the
1657 template for generation of the \texttt{ert\_main.c} file, containing
1658 the main function, has to be modified to use proper functions for task
1659 creation, task timing and semaphores. The template is stored in
1660 \texttt{\repo/rpp/rpp/rpp\_srmain.tlc} file.
1662 \chapter{Simulink Coder Target}
1663 \label{chap-simulink-coder-target}
1665 The Simulink Coder Target allows to convert Simulink models to C code,
1666 compile it and download to the board.
1668 \section{Introduction}
1669 \label{sec-introduction}
1671 The Simulink RPP Target provides support for C source code generation from Simulink models and
1672 compilation of that code on top of the RPP library and the FreeRTOS operating system. This target
1673 uses Texas Instruments ARM compiler (\texttt{armcl}) included in the Code Generation Tools distributed with
1674 Code Composer Studio, and thus it depends on it for proper functioning.
1676 This target also provides support for automatic download of the compiled binary to the RPP
1679 \begin{figure}\begin{center}
1681 \includegraphics[scale=.45]{images/tlc_process.png}
1682 \caption{TLC code generation process. \cite[p. 1-6]{targetlanguagecompiler2013}}
1683 \end{center}\end{figure}
1685 \section{Features and limitations}
1686 \label{sec-features}
1689 \item Sampling frequencies up to 1\,kHz.
1690 \item Multi-rate models executed in SingleTasking mode in a single thread without
1691 preemption or in MultiTasking mode, each subrate in its own thread with preemption.
1692 See Section \ref{sec-singlet-multit-modes} for more details about modes.
1693 \item No External mode support yet. We work on it.
1694 \item Custom compiler options, available via OPTS variable in
1695 \emph{Make command} at \emph{Code Generation} tab (see Figure
1696 \ref{fig-code-gen-settings}). For example \texttt{make\_rtw
1700 \section{RPP Options pane}
1701 \label{sec-rpp-target-options}
1703 The RPP Target includes the following configuration options, all of them
1704 configurable per model under \textsc{Code Generation} \noindent$\rightarrow$
1705 \textsc{RPP Options}:
1708 \item \textbf{C system stack size}: this parameter is passed directly
1709 to the linker for the allocation of the stack. Note that this stack
1710 is used only for initializing the application and FreeRTOS. Once
1711 everything is initialized, another stack is used by the generated
1712 code. See below. Default value is 4096.
1714 \item \textbf{C system heap size}:
1715 \label{sec-rpp-target-options-heap-size} this parameter is passed
1716 directly to the linker for the allocation of the heap. Currently,
1717 the heap is not used, but will be used by the external mode in the future.
1718 Note that FreeRTOS uses its own heap whose size is independent of this
1720 \item \textbf{Model step task stack size}: this parameter will be
1721 passed to the \texttt{xTaskCreate()} that
1722 creates the task for the model to run. In a Simulink model there are always two tasks:
1724 \item The worker task. This task is the one that executes the model
1725 step. This task requires enough stack memory to execute the step.
1726 If your model does not run, it might be caused by too small stack.
1727 The memory needed for the stack depends on the size and structure
1729 \item The control task. This task controls when the worker task should execute and controls overruns.
1732 \item \textbf{Download compiled binary to RPP}: if set, this option will download the generated binary to
1733 the board after the model is successfully built. Note that this option is unaware of the option
1734 \textit{Generate code only} in the \textit{Code Generation} options panel, so it will try to download even if
1735 only source code has been generated, failing graciously or uploading an old binary laying around
1736 in the build directory. This option calls the \texttt{rpp\_download.m} script, which is in turn a
1737 wrapper on the \texttt{loadti.sh}, \texttt{loadti.bat} and \texttt{loadopenocd.sh} script. More information on the \texttt{loadti.sh}
1738 script can be found in:
1740 <ccs>/ccs_base/scripting/examples/loadti/readme.txt
1741 http://processors.wiki.ti.com/index.php/Loadti
1744 The \texttt{loadti.sh} and \texttt{loadti.bat} script will close after the
1745 download of the generated program, leaving the loaded program running.
1747 The \texttt{loadopenocd.sh} script will close after the download of the
1748 generated program as well, but the program will be stopped. In order to run
1749 the loaded program a manual reset of the board is required.
1751 \item \textbf{Download compiled binary to SDRAM}: This feature is not yet
1752 implemented for the simulink target.
1754 \item \textbf{Use OpenOCD to download the compiled binary}: This feature is not yet
1755 implemented for the \mcuname{} simulink target.
1756 % TODO Not true - use conditional compilation here.
1758 \item \textbf{Print model metadata to SCI at start}: if set this option will
1759 print a message to the Serial Communication Interface when the model start
1760 execution on the board. This is very helpful to identify the model running on
1761 the board. The message is in the form:
1764 `model_name' - generated_date (TLC tlc_version)
1769 `hbridge_analog_control' - Wed Jun 19 14:10:44 2013 (TLC 8.3 (Jul 20 2012))
1773 \section{Subdirectory content description}
1774 \label{sec-simulink-subdirectory-content-description}
1775 This section describes the directories of the Simulink Coder. If you are
1776 interested in particular file, refer the description at the beginning of the
1780 \item[doc/] Contains the sources of the documentation, you are now
1782 \item[refs/] Contains third party references, which license allows the
1784 \item[rpp/blocks] Contains the Simulink blocks specific to the
1785 \tgtBoardName{} board and their sources (.c and .tlc files). When an
1786 user calls \texttt{rpp\_setup.m}, these files are processed and
1787 Simulink block library \texttt{rpp\_lib.slx} is created.
1788 \item[rpp/blocks/tlc\_c]Contains the templates for C code generation from the
1789 Matlab Simulink model.
1790 \item[rpp/demos] Contains demo models, which purpose is to serve as a
1791 reference for the usage and for testing.
1792 \item[rpp/lib] Contains the C Support Library. See Chapter
1793 \ref{chap-c-support-library}. \item[rpp/loadopenocd] Contains download scripts
1794 for Linux support of the OpenOCD, for code downloading to the target.
1795 \item[rpp/loadti] Contains download scripts for Linux and Windows
1796 support for code downloading to the target, using Texas Instruments CCS code
1798 \item[rpp/rpp] Contains set of support script for the Code Generator.
1801 \section{SingleTasking and MultiTasking modes}
1802 \label{sec-singlet-multit-modes}
1803 This chapter describes the behavior of the SingleTasking and MultiTasking modes.
1804 The mode can be selected for every model in the configuration dialog as described
1805 in Section \ref{sec-crating-new-model}.
1807 For models which are running on a single rate the SingleTasking mode should be selected as there are
1808 no benefits from the MultiTasking mode.
1810 Once multiple rates appear in the model, the mode selection becomes more important as there may
1811 exist cases, depending on memory availability and timing, to prefer one of them.
1813 \subsection{SingleTasking}
1814 \label{sec-singlet-mode}
1815 In this mode every Simulink task, defined by its sample rate, is running in a single task (thread).
1816 This means that the speed of the fastest possible sample rate is limited by the longest execution
1817 time of every simulink tasks in the model.
1819 The code generated in this mode is quite simple and much less memory demanding as there are only two
1820 operating system tasks and only few semaphores.
1822 \subsection{MultiTasking}
1823 \label{sec-multit-mode}
1824 In this mode every Simulink task, defined by its sample rate, is running in its own separated
1825 task (thread). Every task has automatically assigned a priority and tasks with higher priority
1826 are allowed to preempt tasks with lower priority. This means that the speed of the fastest sample rate
1827 period is limited only by the code execution speed of the control task, the task itself and operating
1830 The tasks are assigned the priority according to the sample rate. By default the fastest sample rate gets the highest priority number and the priority number is incremented for every slower subrate. This behavior is in most cases wrong for the models driven by the RPP library with FreeRTOS. In this operating system the lower priority number means the lower priority of the task. By default the fastest subrate gets the lowest priority. To avoid this the checkbox \textit{TextHigher priority value indicates higher task priority} has to be checked in the model configuration dialog in the Solver pane. The checkbox makes the simulink to decrement the task priority number for every slower subrates, leaving the fastest sample rate with the highest priority.
1832 The code generated in this mode is however more comlicated than in the SingleTasking mode. The
1833 necessity of launching a task and defining a semaphore for every subrate brings higher
1836 \section{Block Library Overview}
1837 \label{sec-block-library-overview}
1838 The Simulink Block Library is a set of blocks that allows Simulink models to use
1839 board IO and communication peripherals. The available blocks are summarized in
1840 Table~\ref{tab:block-lib-status} and more detailed description is
1841 given in Section~\ref{sec-blocks-description}.
1844 \begin{center}\begin{tabular}{|lp{5cm}lll|}
1846 \textbf{Category} & \textbf{Name} & \textbf{Status} & \textbf{Mnemonic} & \textbf{Header} \\
1848 \input{block_table.tex}
1850 \end{tabular}\end{center}
1852 \caption{Block library overview}
1853 \label{tab:block-lib-status}
1856 \label{sec-blocks-implementation}
1857 All of the blocks are implemented as manually created C Mex S-Function . In this section the
1858 approach taken is briefly explained.
1860 \subsection{C MEX S-Functions}
1861 \label{sec-c-mex-functions}
1863 \item C : Implemented in C language. Other options are Fortran and Matlab language itself.
1864 \item MEX: Matlab Executable. They are compiled by Matlab - C compiler wrapper called MEX.
1865 \item S-Function: System Function, as opposed to standard functions, or user functions.
1868 A C MEX S-Function is a structured C file that implements some mandatory and
1869 optional callbacks for a specification of a number of inputs, outputs, data
1870 types, parameters, rate, validity checking, etc. A complete list of callbacks
1873 \htmladdnormallink{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}{http://www.mathworks.com/help/simulink/create-cc-s-functions.html}
1876 The way a C MEX S-Function participates in a Simulink simulation is shown on the
1877 diagram \ref{fig-sfunctions-process}:
1879 \begin{figure}[H]\begin{center}
1881 \includegraphics[scale=.45]{images/sfunctions_process.png}
1882 \caption{Simulation cycle of a S-Function. \cite[p. 57]{simulinkdevelopingsfunctions2013}}
1883 \label{fig-sfunctions-process}
1884 \end{center}\end{figure}
1886 In general, the S-Function can perform calculations, inputs and outputs for simulation. Because
1887 the RPP blocks are for hardware peripherals control and IO the blocks are
1888 implemented as pure sink or pure source, the S-Function is just a descriptor of
1889 the block and does not perform any calculation and does not provide any input or
1890 output for simulations.
1892 The implementation of the S-Functions in the RPP project has following layout:
1895 \item Define S-Function name \texttt{S\_FUNCTION\_NAME}.
1896 \item Include header file \texttt{header.c}, which in connection with
1897 \texttt{trailer.c} creates a miniframework for writing S-Functions.
1898 \item In \texttt{mdlInitializeSizes} define:
1900 \item Number of \textit{dialog} parameter.
1901 \item Number of input ports.
1903 \item Data type of each input port.
1905 \item Number of output ports.
1907 \item Data type of each output port.
1909 \item Standard options for driver blocks.
1911 \item In \texttt{mdlCheckParameters}:
1913 \item Check data type of each parameter.
1914 \item Check range, if applicable, of each parameter.
1916 \item In \texttt{mdlSetWorkWidths}:
1918 \item Map \textit{dialog} parameter to \textit{runtime} parameters.
1920 \item Data type of each \textit{runtime} parameter.
1923 \item Define symbols for unused functions.
1924 \item Include trailer file \texttt{trailer.c}.
1927 The C MEX S-Function implemented can be compiled with the following command:
1929 \lstset{language=bash}
1931 <matlabroot>/bin/mex sfunction_{mnemonic}.c
1934 As noted the standard is to always prefix S-Function with \texttt{sfunction\_}
1935 and use lower case mnemonic of the block.
1937 Also a script called \texttt{compile\_blocks.m} is included. The script that
1938 allows all \texttt{sfunctions\_*.c} to be fed to the \texttt{mex} compiler so
1939 all S-Functions are compiled at once. To use this script, in Matlab do:
1941 \lstset{language=Matlab}
1943 cd <repo>/rpp/blocks/
1947 \subsection{Target Language Compiler files}
1948 \label{sec-target-language-compiler-files}
1950 In order to generate code for each one of the S-Functions, every S-Function implements a TLC file
1951 for \textit{inlining} the S-Function on the generated code. The TLC files describe how to
1952 generate code for a specific C MEX S-Function block. They are programmed using TLC own language and
1953 include C code within TLC instructions, just like LaTeX files include normal text in between LaTeX
1956 The standard for a TLC file is to be located under the \texttt{tlc\_c} subfolder from where the
1957 S-Function is located and to use the very exact file name as the S-Function but with the \texttt{.tlc}
1958 extension: \texttt{sfunction\_foo.c} \noindent$\rightarrow$ \texttt{tlc\_c/sfunction\_foo.tlc}
1960 The TLC files implemented for this project use 3 hook functions in particular (other are available,
1961 see TLC reference documentation):
1963 \item \texttt{BlockTypeSetup}: \newline{}
1964 BlockTypeSetup executes once per block type before code generation begins.
1965 This function can be used to include elements required by this block type, like includes or
1967 \item \texttt{Start}: \newline{}
1968 Code here will be placed in the \texttt{void
1969 $\langle$modelname$\rangle$\_initialize(void)}. Code placed here will execute
1971 \item \texttt{Outputs}: \newline{}
1972 Code here will be placed in the \texttt{void
1973 $\langle$modelname$\rangle$\_step(void)} function. Should be used to get the
1974 inputs of a block and/or to set the outputs of that block.
1977 The general layout of the TLC files implemented for this project is:
1979 \item In \texttt{BlockTypeSetup}: \newline{}
1980 Call common function \texttt{\%$<$RppCommonBlockTypeSetup(block, system)$>$} that will include the
1981 \texttt{rpp/rpp\i\_mnemonic.h} header file (can be called multiple times but header is included only once).
1982 \item \texttt{Start}: \newline{}
1983 Call setup routines from RPP Layer for the specific block type, like HBR enable, DIN pin setup,
1984 DAC value initialization, SCI baud rate setup, among others.
1985 \item \texttt{Outputs}: \newline{}
1986 Call common IO routines from RPP Layer, like DIN read, DAC set, etc. Success of this functions
1987 is checked and in case of failure error is reported to the block using ErrFlag.
1990 C code generated from a Simulink model is placed on a file called
1991 \texttt{$\langle$modelname$\rangle$.c} along with other support files in a
1992 folder called \texttt{$\langle$modelname$\rangle$\_$\langle$target$\rangle$/}.
1993 For example, the source code generated for model \texttt{foobar} will be placed
1994 in current Matlab directory \texttt{foobar\_rpp/foobar.c}.
1996 The file \texttt{$\langle$modelname$\rangle$.c} has 3 main functions:
1998 \item \texttt{void $\langle$modelname$\rangle$\_step(void)}: \newline{}
1999 This function recalculates all the outputs of the blocks and should be called once per step. This
2000 is the main working function.
2001 \item \texttt{void $\langle$modelname$\rangle$\_initialize(void)}: \newline{}
2002 This function is called only once before the first step is issued. Default values for blocks IOs
2003 should be placed here.
2004 \item \texttt{void $\langle$modelname$\rangle$\_terminate(void)}: \newline{}
2005 This function is called when terminating the model. This should be used to free memory or revert
2006 other operations made in the initialization function. With current implementation this function
2007 should never be called unless an error is detected and in most models it is empty.
2010 \section{Block reference}
2011 \label{sec-blocks-description}
2013 This section describes each one of the Simulink blocks present in the Simulink
2014 RPP block library, shown in Figure \ref{fig-block-library}.
2018 \includegraphics[width=\textwidth]{images/block_library.png}
2020 \caption{Simulink RPP Block Library.}
2021 \label{fig-block-library}
2024 \input{block_desc.tex}
2026 \section{Compilation}
2027 \label{sec-simulink-compilation}
2028 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:
2029 \lstset{language=Matlab}
2031 cd <rpp-simulink>/rpp/blocks
2035 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:
2038 \item Open Matlab and run those commands in the Matlab command line:
2039 \lstset{language=Matlab}
2041 cd <rpp-simulink>/rpp/demos
2044 \item Run those commands in a Linux terminal:
2045 \begin{lstlisting}[language=bash]
2046 cd <rpp-simulink>/rpp/demos
2050 or Windows command line:
2052 \begin{lstlisting}[language=bash]
2053 cd <rpp-simulink>\rpp\demos
2054 "C:\ti\ccsv5\utils\bin\"gmake.exe lib
2057 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}.
2060 \section{Adding new functionality}
2061 \label{sec:adding-new-funct}
2062 This section describes how to create new Simulink blocks and how to add them to the RPP
2063 blocks library. The new block creation process consists of several steps:
2065 \item Addition of the new functionality to the RPP C support library.
2066 \item Definition of the block interface as a C MEX S-Function
2067 (Section~\ref{sec:block-definition-c})
2068 \item Compilation of the block definition to MEX file
2069 (Section~\ref{sec:c-mex-file})
2070 \item Creation of the code generator template (TLC) file
2071 (Section~\ref{sec:tlc-file-creation}).
2072 \item Creation of an S-Function block in the RPP block library
2073 and ``connecting'' this block with the C MEX and TLC files
2074 (Section~\ref{sec:creation-an-s})
2075 \item Optional: Creation of the mask for the new block. The mask
2076 specifies graphical representation of the block as well as
2077 the content of the block parameters dialog box.
2079 The following subsections demonstrate the procedure on an example of a simple user defined block.
2081 \subsection{Block interface definition in a C MEX S-function}
2082 \label{sec:block-definition-c}
2083 In order to use a custom block in the Simulink model, Simulink must know
2084 a certain number of block attributes, such as the number and type of
2085 block inputs, outputs and parameters. These attributes are specified
2086 by a set of functions in a C file. This C file gets compiled by the MEX
2087 compiler into a MEX file and is then used in an S-Function block.
2088 Simulink calls the functions in the C MEX file to obtain the above
2089 mentioned block attributes. In case of RPP blocks, no other
2090 functionality is present in the C MEX file.
2092 The C files are stored in \texttt{\repo/rpp/blocks} directory and are named as
2093 \texttt{sfunction\_$\langle$name$\rangle$.c}. Feel free to open any of
2094 the C files as a reference.
2096 Every C file that will be used with the RPP library should begin with
2097 a comment in YAML\footnote{\url{http://yaml.org/},
2098 \url{https://en.wikipedia.org/wiki/YAML}} format. The information in
2099 this block is used to automatically generate both printed and on-line
2100 documentation. Although this block is not mandatory, it is highly
2101 recommended, as it helps keeping the documentation consistent and
2104 The YAML documentation block may look like this:
2105 \begin{lstlisting}[language=c,basicstyle=\tt\footnotesize]
2109 Name: Name Of The Block
2115 - { name: "Some Input Signal", type: "bool" }
2118 - { name: "Some Output Signal", type: "bool" }
2122 # Description and Help is in Markdown mark-up
2125 This is a stub of an example block.
2129 This block is a part of an example about how to create
2130 new Matlab Simulink blocks for RPP board.
2134 RPP API functions used:
2142 Following parts are obligatory and the block will not work without them. It starts with a
2143 definition of the block name and inclusion of a common source file:
2145 \begin{lstlisting}[language=c]
2146 #define S_FUNCTION_NAME sfunction_myblock
2150 To let Simulink know the type of the inputs, outputs and how many parameters
2151 will the block have, the \texttt{mdlInitializeSizes()} function has to be defined like this:
2153 \begin{lstlisting}[language=c]
2154 static void mdlInitializeSizes(SimStruct *S)
2156 /* The block will have no parameters. */
2157 if (!rppSetNumParams(S, 0)) {
2160 /* The block will have one input signal. */
2161 if (!ssSetNumInputPorts(S, 1)) {
2164 /* The input signal will be of type boolean */
2165 rppAddInputPort(S, 0, SS_BOOLEAN);
2166 /* The block will have one output signal */
2167 if (!ssSetNumOutputPorts(S, 1)) {
2170 /* The output signal will be of type boolean */
2171 rppAddOutputPort(S, 0, SS_BOOLEAN);
2173 rppSetStandardOptions(S);
2177 The C file may contain several other optional functions definitions for parameters check,
2178 run-time parameters definition and so on. For information about those functions refer the comments
2179 in the header.c file, trailer.c file and documentation of Simulink S-Functions.
2181 The minimal C file compilable into C MEX has to contain following
2182 macros to avoid linker error messages about some of the optional
2183 functions not being defined:
2184 \begin{lstlisting}[language=c]
2185 #define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
2186 #define UNUSED_MDLCHECKPARAMETERS
2187 #define UNUSED_MDLOUTPUTS
2188 #define UNUSED_MDLTERMINATE
2191 Every C file should end by inclusion of a common trailer source file:
2193 \begin{lstlisting}[language=c]
2194 #include "trailer.c"
2197 \subsection{C MEX file compilation}
2198 \label{sec:c-mex-file}
2199 In order to compile the created C file, the development environment
2200 has to be configured first as described in
2201 Section~\ref{sec-matlab-simulink-usage}.
2203 All C files in the directory \texttt{\repo/rpp/blocks} can be compiled
2204 into C MEX by running script
2205 \texttt{\repo/rpp/blocks/compile\_blocks.m} from Matlab command
2206 prompt. If your block requires some special compiler options, edit the
2207 script and add a branch for your block.
2209 To compile only one block run the \texttt{mex sfunction\_myblock.c}
2210 from Matlab command prompt.
2212 \subsection{TLC file creation}
2213 \label{sec:tlc-file-creation}
2214 The TLC file is a template used by the code generator to generate the
2215 C code for the RPP board. The TLC files are stored in
2216 \texttt{\repo/rpp/blocks/tlc\_c} folder and their names must be the
2217 same (except for the extension) as the names of the corresponding
2218 S-Functions, i.e. \texttt{sfunction\_$\langle$name$\rangle$.tlc}. Feel
2219 free to open any of the TLC files as a reference.
2221 TLC files for RPP blocks should contain a header:
2222 \begin{lstlisting}[language=c]
2223 %implements sfunction_myblock "C"
2224 %include "common.tlc"
2227 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:
2229 \item BlockTypeSetup
2230 \item BlockInstanceSetup
2235 For detailed description about each one of those functions, refer to
2236 \cite{targetlanguagecompiler2013}. A simple TLC file, which generates
2237 some code may look like this:
2238 \begin{lstlisting}[language=c]
2239 %implements sfunction_myblock "C"
2240 %include "common.tlc"
2242 %function BlockTypeSetup(block, system) void
2243 %% Ensure required header files are included
2244 %<RppCommonBlockTypeSetup(block, system)>
2245 %<LibAddToCommonIncludes("rpp/sci.h")>
2248 %function Outputs(block, system) Output
2249 %if !SLibCodeGenForSim()
2250 %assign in_signal = LibBlockInputSignal(0, "", "", 0)
2251 %assign out_signal = LibBlockOutputSignal(0, "", "", 0)
2253 %<out_signal> = !%<in_signal>;
2254 rpp_sci_printf("Value: %d\r\n", %<in_signal>);
2260 The above template causes the generated code to contain
2261 \texttt{\#include "rpp/sci.h"} line and whenever the block is
2262 executed, its output will be the negation of its input and the value
2263 of the input signal will be printed to the serial line.
2265 \subsection{Creation of an S-Function block in the RPP block library}
2266 \label{sec:creation-an-s}
2267 User defined Simulink blocks can be included in the model as
2268 S-Function blocks. Follow this procedure to create a new block in the
2271 \item Create a new Simulink library by selecting
2272 \textsc{File$\rightarrow$New$\rightarrow$Library} and save it as
2273 \texttt{\repo\-/rpp/blocks/rpp\_$\langle$name$\rangle$.slx}.
2274 Alternatively, open an existing library.
2275 \item In case of opening an existing library, unlock it for editing by
2276 choosing \textsc{Diagram$\rightarrow$Unlock Library}.
2277 \item Open a Simulink Library Browser
2278 (\textsc{View$\rightarrow$Library Browser}) open
2279 \textsc{Simulink$\rightarrow$User-Defined Functions} and drag the
2280 \textsc{S-Function} block into the newly created library.
2281 \item Double click on the just created \textsc{S-Function} block and
2282 fill in the \textsc{S-function name} field. Put there the name
2283 (without the extension) of the created C MEX S-Function, e.g.
2284 sfunction\_myblock. The result should like like in
2285 Figure~\ref{fig-simulink_s_fun_cfg}.
2286 \begin{figure}[h]\begin{center}
2288 \includegraphics[scale=.45]{images/simulink_s_fun_config.png}
2289 \caption{Configuration dialog for user defined S-function.}
2290 \label{fig-simulink_s_fun_cfg}
2291 \end{center}\end{figure}
2292 \item If your block has some parameters, write their names (you can
2293 choose them arbitrarily) in the \textsc{S-function parameters}
2294 field, separated by commas. \label{item:1}
2295 \item Now you should see the new Simulink block with the right number
2296 of inputs and outputs.
2297 \item Optional: Every user-defined block can have a \emph{mask}, which
2298 provides some useful information about the name of the block,
2299 configuration dialog for parameters and names of the IO signals. The
2300 block can be used even without the mask, but it is not as user
2301 friendly as with proper mask. Right-click the block and select
2302 \textsc{Mask$\rightarrow$Create Mask...}. In the definition of
2303 parameters, use the same names as in step~\ref{item:1}. See
2304 \cite[Section ``Block Masks'']{mathworks13:simul_2013b} for more
2306 \item Save the library and run \texttt{rpp\_setup} (or just
2307 \texttt{rpp\_generate\_lib}) from Matlab command line to add the newly
2308 created block to RPP block library (\texttt{rpp\_lib.slx}).
2311 Now, you can start using the new block in Simulink models as described
2312 in Section~\ref{sec-crating-new-model}.
2315 \section{Demos reference}
2316 The Simulink RPP Demo Library is a set of Simulink models that use blocks from
2317 the Simulink RPP Block Library and generates code using the Simulink RPP Target.
2319 This demos library is used as a test suite for the Simulink RPP Block Library
2320 but they are also intended to show basic programs built using it. Because of
2321 this, the demos try to use more than one
2322 type of block and more than one block per block type.
2324 In the reference below you can find a complete description for each of the demos.
2326 \subsection{ADC demo}
2327 \begin{figure}[H]\begin{center}
2329 \includegraphics[scale=.45]{images/demo_adc.png}
2330 \caption{Example of the usage of the Analog Input blocks for RPP.}
2331 \end{center}\end{figure}
2333 \textbf{Description:}
2335 Demostrates how to use Analog Input blocks in order to measure voltage. This demo
2336 measures voltage on every available Analog Input and prints the values on the
2339 \subsection{Simple CAN demo}
2340 \begin{figure}[H]\begin{center}
2342 \includegraphics[scale=.45]{images/demo_simple_can.png}
2343 \caption{The simplest CAN demonstration.}
2344 \end{center}\end{figure}
2346 \textbf{Description:}
2348 The simplest possible usage of the CAN bus. This demo is above all designed for
2349 testing the CAN configuration and transmission.
2351 \subsection{CAN transmit}
2352 \begin{figure}[H]\begin{center}
2354 \includegraphics[scale=.45]{images/demo_cantransmit.png}
2355 \caption{Example of the usage of the CAN blocks for RPP.}
2356 \end{center}\end{figure}
2358 \textbf{Description:}
2360 Demostrates how to use CAN Transmit blocks in order to:
2363 \item Send unpacked data with data type uint8, uint16 and uint32.
2364 \item Send single and multiple signals packed into CAN\_MESSAGE by CAN Pack block.
2365 \item Send a message as extended frame type to be received by CAN Receive
2366 configured to receive both, standard and extended frame types.
2369 Demostrates how to use CAN Receive blocks in order to:
2372 \item Receive unpacked data of data types uint8, uint16 and uint32.
2373 \item Receive and unpack received CAN\_MESSAGE by CAN Unpack block.
2374 \item Configure CAN Receive block to receive Standard, Extended and both frame types.
2375 \item Use function-call mechanism to process received messages
2378 \subsection{Continuous time demo}
2379 \begin{figure}[H]\begin{center}
2381 \includegraphics[scale=.45]{images/demo_continuous.png}
2382 \caption{The demonstration of contiuous time.}
2383 \end{center}\end{figure}
2385 \textbf{Description:}
2387 This demo contains two integrators, which are running at continuous time. The main goal
2388 of this demo is to verify that the generated code is compilable and is working even when
2389 discrete and continuous time blocks are combined together.
2391 \subsection{Simulink Demo model}
2392 \begin{figure}[H]\begin{center}
2394 \includegraphics[scale=.45]{images/demo_board.png}
2395 \caption{Model of the complex demonstration of the boards peripherals.}
2396 \end{center}\end{figure}
2398 \textbf{Description:}
2400 This model demonstrates the usage of RPP Simulink blocks in a complex and interactive
2401 application. The TI HDK kit has eight LEDs placed around the MCU. The application
2402 rotates the light around the MCU in one direction. Every time the user presses the button
2403 on the HDK, the direction is switched.
2405 The state of the LEDs is sent on the CAN bus as a message with ID 0x1. The button can
2406 be emulated by CAN messages with ID 0x0. The message 0x00000000 simulates button release
2407 and the message 0xFFFFFFFF simulates the button press.
2409 Information about the state of the application are printed on the Serial Interface.
2411 \subsection{Echo char}
2412 \begin{figure}[H]\begin{center}
2414 \includegraphics[scale=.45]{images/demo_echo_char.png}
2415 \caption{Echo Character Simulink demo for RPP.}
2416 \end{center}\end{figure}
2418 \textbf{Description:}
2420 This demo will echo (print back) any character received through the Serial Communication
2421 Interface (115200-8-N-1).
2423 Note that the send subsystem is implemented a as \textit{triggered} subsystem and will execute only
2424 if data is received, that is, Serial Receive output is non-negative. Negative values are errors.
2426 \subsection{GIO demo}
2427 \begin{figure}[H]\begin{center}
2429 \includegraphics[scale=.45]{images/demo_gio.png}
2430 \caption{Demonstration of DIN and DOUT blocks}
2431 \end{center}\end{figure}
2433 \textbf{Description:}
2435 The model demonstrates how to use the DIN blocks and DOUT blocks, configured in every mode. The DOUTs
2436 are pushed high and low with period 1 second. The DINs are reading inputs and printing the values
2437 on the Serial Interface with the same period.
2439 \subsection{Hello world}
2440 \begin{figure}[H]\begin{center}
2442 \includegraphics[scale=.45]{images/demo_hello_world.png}
2443 \caption{Hello World Simulink demo for RPP.}
2444 \end{center}\end{figure}
2446 \textbf{Description:}
2448 This demo will print \texttt{Hello Simulink} to the Serial Communication Interface (115200-8-N-1) one
2449 character per second. The output speed is driven by the Simulink model step which is set to one
2452 \subsection{Multi-rate SingleTasking demo}
2453 \label{sec:mult-single-thre}
2455 \begin{figure}[H]\begin{center}
2457 \includegraphics[scale=.45]{images/demo_multirate_st.png}
2458 \caption{Multi-rate SingleTasking Simulink demo for RPP.}
2459 \end{center}\end{figure}
2461 \textbf{Description:}
2463 This demo will toggle LEDs on the Hercules Development Kit with
2464 different rate. This is implemented with multiple Simulink tasks, each
2465 running at different rate. In the generated code, these tasks are
2466 called from a singe thread and therefore no task can preempt another
2467 one. See Section \ref{sec-singlet-mode} for more details.
2469 The state of each LED is printed to the Serial Communication Interface
2470 (115200-8-N-1) when toggled.
2473 \begin{tabular}{lll}
2474 \rowcolor[gray]{0.9}
2475 LED & pin & rate [s] \\
2476 1 & NHET1\_25 & 0.3 \\
2477 2 & NHET1\_05 & 0.5 \\
2478 3 & NHET1\_00 & 1.0 \\
2480 \captionof{table}{LEDs connection and rate}
2481 \label{tab:multirate_st_led_desc}
2484 \subsection{Multi-rate MultiTasking demo}
2485 \label{sec:mult-multi-thre}
2487 \begin{figure}[H]\begin{center}
2489 \includegraphics[scale=.45]{images/demo_multirate_mt.png}
2490 \caption{Multi-rate MultiTasking Simulink demo for RPP.}
2491 \end{center}\end{figure}
2493 \textbf{Description:}
2495 This demo will toggle LEDs on the Hercules Development Kit with
2496 different rate. This is implemented with multiple Simulink tasks, each
2497 running at different rate. In the generated code, every subrate task
2498 runs in its own thread. See Section \ref{sec-multit-mode} for more details.
2500 The state of each LED is printed to the Serial Communication Interface
2501 (115200-8-N-1) when toggled.
2504 \begin{tabular}{lll}
2505 \rowcolor[gray]{0.9}
2506 LED & pin & rate [s] \\
2507 1 & NHET1\_25 & 0.3 \\
2508 2 & NHET1\_05 & 0.5 \\
2509 3 & NHET1\_00 & 1.0 \\
2511 \captionof{table}{LEDs connection and rate}
2512 \label{tab:multirate_mt_led_desc}
2517 \chapter{Command line testing tool}
2518 \label{chap-rpp-test-software}
2519 \section{Introduction}
2520 \label{sec-rpp-test-sw-intro}
2521 The \texttt{rpp-test-suite} is a RPP application developed testing and direct
2522 control of the RPP hardware. The test suite implements a command processor,
2523 which is listening for commands and prints some output related to the commands
2524 on the serial interface. The command processor is modular and each peripheral
2525 has its commands in a separate module.
2527 The command processor is implemented in \texttt{$\langle$rpp-test-sw$\rangle$/cmdproc} and commands
2528 modules are implemented in \texttt{$\langle$rpp-test-sw$\rangle$/commands} directory.
2530 The application enables a command processor using the SCI at
2531 \textbf{115200-8-N-1}. When the software starts, the received welcome message
2532 and prompt should look like:
2535 \ifx\tgtId\tgtIdTMSRPP
2537 Rapid Prototyping Platform v00.01-001
2538 Test Software version v0.2-261-gb6361ca
2544 Ti HDK \mcuname, FreeRTOS 7.0.2
2545 Test Software version eaton-0.1-beta-8-g91419f5
2546 CTU in Prague 10/2014
2551 Type in command help for a complete list of available command, or help command
2552 for a description of concrete command.
2554 \section{Compilation}
2555 \label{sec-rpp-test-sw-compilation}
2556 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.
2558 \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}.
2559 \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}.
2561 To build the Testing tool from Linux terminal run:
2562 \begin{lstlisting}[language=bash]
2567 or from Windows command line:
2569 \begin{lstlisting}[language=bash]
2571 "C:\ti\ccsv5\utils\bin\"gmake.exe
2574 On Windows \texttt{gmake.exe} supplied with CCS is used instead of
2578 \section{Commands description}
2580 This section contains the description of the available commands. The
2581 same description is also available in the program itself via the
2582 \texttt{help} command.
2584 \input{rpp-test-sw-cmds.tex}
2590 \textit{Analog to Digital Converter.} \newline{}
2591 Hardware circuitry that converts a continuous physical quantity (usually voltage) to a
2592 digital number that represents the quantity's amplitude.
2595 \textit{Analog Input.} \newline{}
2596 Mnemonic to refer to or something related to the analog input (ADC) hardware module.
2599 \textit{Analog Output.} \newline{}
2600 Mnemonic to refer to or something related to the analog output (DAC) hardware module.
2602 \item[API] \textit{Application Programming Interface}
2605 \textit{Controller Area Network.} \newline{}
2606 The CAN Bus is a vehicle bus standard designed to allow microcontrollers and devices to
2607 communicate with each other within a vehicle without a host computer.
2608 In this project it is also used as mnemonic to refer to or something related to the CAN
2611 \item[CCS] \textit{Code Composer Studio} \\
2612 Eclipse-based IDE provided by Texas Instruments.
2615 \textit{Code Generation Tools.} \newline{}
2616 Name given to the tool set produced by Texas Instruments used to compile, link, optimize,
2617 assemble, archive, among others. In this project is normally used as synonym for
2618 ``Texas Instruments ARM compiler and linker."
2621 \textit{Digital to Analog Converter.} \newline{}
2622 Hardware circuitry that converts a digital (usually binary) code to an analog signal
2623 (current, voltage, or electric charge).
2626 \textit{Digital Input.} \newline{}
2627 Mnemonic to refer to or something related to the digital input hardware module.
2630 \textit{Engine Control Unit.} \newline{}
2631 A type of electronic control unit that controls a series of actuators on an internal combustion
2632 engine to ensure the optimum running.
2635 \textit{Ethernet.} \newline{}
2636 Mnemonic to refer to or something related to the Ethernet hardware module.
2639 \textit{FlexRay.} \newline{}
2640 FlexRay is an automotive network communications protocol developed to govern on-board automotive
2642 In this project it is also used as mnemonic to refer to or something related to the FlexRay
2646 \textit{General Purpose Input/Output.} \newline{}
2647 Generic pin on a chip whose behavior (including whether it is an input or output pin) can be
2648 controlled (programmed) by the user at run time.
2651 \textit{H-Bridge.} \newline{}
2652 Mnemonic to refer to or something related to the H-Bridge hardware module. A H-Bridge is
2653 an electronic circuit that enables a voltage to be applied across a load in either direction.
2656 \textit{High-Power Output.} \newline{}
2657 Mnemonic to refer to or something related to the 10A, PWM, with current sensing, high-power
2658 output hardware module.
2661 \textit{Integrated Development Environment.} \newline{}
2662 An IDE is a Software application that provides comprehensive facilities to computer programmers
2663 for software development.
2666 \textit{Legacy Code Tool.} \newline{}
2667 Matlab tool that allows to generate source code for S-Functions given the descriptor of a C
2671 \textit{Model-Based Design.} \newline{}
2672 Model-Based Design (MBD) is a mathematical and visual method of addressing problems associated
2673 with designing complex control, signal processing and communication systems. \cite{modelbasedwiki2013}
2676 \textit{Matlab Executable.} \newline{}
2677 Type of binary executable that can be called within Matlab. In this document the common term
2678 used is `C MEX S-Function", which means Matlab executable written in C that implements a system
2682 \textit{Pulse-width modulation.} \newline{}
2683 Technique for getting analog results with digital means. Digital control is used to create a
2684 square wave, a signal switched between on and off. This on-off pattern can simulate voltages
2685 in between full on and off by changing the portion of the time the signal spends on versus
2686 the time that the signal spends off. The duration of ``on time" is called the pulse width or
2687 \textit{duty cycle}.
2689 \item[RPP] \textit{Rapid Prototyping Platform.} \newline{} Name of the
2690 developed platform, that includes both hardware and software.
2693 \textit{Serial Communication Interface.} \newline{}
2694 Serial Interface for communication through hardware's UART using communication standard RS-232.
2695 In this project it is also used as mnemonic to refer to or something related to the Serial
2696 Communication Interface hardware module.
2699 \textit{SD-Card.} \newline{}
2700 Mnemonic to refer to or something related to the SD-Card hardware module.
2703 \textit{SD-RAM.} \newline{}
2704 Mnemonic to refer to or something related to the SD-RAM hardware module for logging.
2707 \textit{Target Language Compiler.} \newline{}
2708 Technology and language used to generate code in Matlab/Simulink.
2711 \textit{Universal Asynchronous Receiver/Transmitter.} \newline{}
2712 Hardware circuitry that translates data between parallel and serial forms.
2719 % LocalWords: FreeRTOS RPP POSIX microcontroller HalCoGen selftests
2720 % LocalWords: MCU UART microcontrollers DAC CCS simulink SPI GPIO
2721 % LocalWords: IOs HDK TMDSRM