Added support for Eaton Hydraulics
Controller board (TMS570LS1227).
\\\hline
+
+ 0.5.5 & 2015-08-27 & Sojka, Horn & rpp-lib: HAL merged into DRV
+ layer, FreeRTOS upgraded to version 8.2.2.
+ \\\hline
\end{tabularx}
\tableofcontents
\subsection{Operating System layer}
\label{sec-operating-system-layer}
-This is an interchangeable operating system layer containing the
+This is an interchangeable operating system (OS) layer containing the
FreeRTOS source files. The system can be easily replaced by another
version. For example it is possible to compile the RPP library for
Linux (using POSIX version of the FreeRTOS), which can be desirable
The following FreeRTOS versions are distributed:
\begin{description}
- \item[6.0.4\_posix] POSIX version, usable for compilation of the library
-for Linux system.
- \item[7.0.2] Preferred version of the FreeRTOS, distributed by
-Texas Instruments. This version has been tested and is used in the current
-version of the library.
- \item[7.4.0] Newest version distributed by the Texas Instruments.
- \item[7.4.2] Newer version available from FreeRTOS pages. Slightly
-modified to run on \tgname{} MCU.
+\item[6.0.4\_posix] POSIX version, usable for compilation of the
+ library for Linux system.
+\item[8.2.2] Currently used FreeRTOS version. This is the version
+ downloaded from FreeRTOS.org with changes in directory structure.
+ Namely, include files have added the \emph{os/} prefix and platform
+ dependent code (portable) for \tgname{} is copied to the same
+ directory as platform independent code.
\end{description}
-\noindent
-Both 7.4.x version were tested and work, but the testing was not so
-extensive as with the used 7.0.2 version.
-
\subsection{System Layer}
\label{sec-system-layer}
This layer contains system files with data types definitions, clock definitions,
folder.
Large part of this layer was generated by the HalCoGen tool (see
-Section~\ref{sec-halcogen}).
-
-\subsection{HAL abstraction layer}
-\label{sec-hal-abstraction-layer}
-Hardware Abstraction Layer (HAL) provides an abstraction over the real
-hardware. For example imagine an IO port with 8 pins. First four pins
-are connected directly to the GPIO pins on the MCU, another four pins
-are connected to an external integrated circuit, communicating with
-the MCU via SPI. This layer allows to control the IO pins
-independently of how that are connected to the MCU, providing a single
-unified API.
-
-Note that this functionality is not needed in the current version for
-\tgtBoardName, because all IOs are controlled directly by GPIO pins.
-
-As a result, the higher layers do not have to know anything about the
-wiring of the peripherals, they can just call read, write or configure
-function with a pin name as a parameter and the HAL handles all the
-details.
-
-The source files can be found in
-\texttt{$\langle$rpp\_lib$\rangle$/rpp/src/hal} and the header files can
-be found in \texttt{$\langle$rpp\_lib$\rangle$/rpp/include/hal} folder.
+Section~\ref{sec-halcogen}). Some files were then modified by hand.
\subsection{Drivers layer}
\label{sec-drivers-layer}
The Drivers layer contains code for controlling the RPP peripherals.
Typically, it contains code implementing IRQ handling, software
queues, management threads, etc. The layer benefits from the lower
-layers thus it is not too low level, but still there are some
+layer thus it is not too low level, but still there are some
peripherals like ADC, which need some special procedure for
initialization and running, that would not be very intuitive for the
-user.
+typical end user.
The source files can be found in
\texttt{$\langle$rpp\_lib$\rangle$/rpp/src/drv} and the header files can
The following sections describe how to start working with individual
packages.
+\ifx\tgtId\tgtIdTMSRPP
+\subsection{Getting sources from git repository}
+\begin{verbatim}
+git clone --recursive git@rtime.felk.cvut.cz:jenkicar/rpp-simulink
+\end{verbatim}
+If you get release packages, follow the instructions in the next sections.
+\fi
+
\subsection{rpp-simulink}
\label{sec-rpp-simulink-installation}
This section describes how to install the rpp-simulink project, which
\item Configure the compiler \#include search path to contain
project's \texttt{include} directory, \penalty-100
- \texttt{\$\{RPP\_LIB\_ROOT\}/os/7.0.2/include} and
+ \texttt{\$\{RPP\_LIB\_ROOT\}/os/8.2.2/include} and
\texttt{\$\{RPP\_LIB\_ROOT\}/rpp/include}, in that order.
\includegraphics[scale=.43]{images/base_5.png}
\item Solver: \emph{discrete}
\item Fixed-step size: \emph{Sampling period in seconds. Minimum
is 0.001.}
- \item Tasking mode: \textit{SingleTasking}.
+ \item Tasking mode -- choose between the following:
+ \begin{compactitem}
+ \item \textit{Auto} selects SingleTasking modes for
+ single-rate model or MultiTasking mode for multi-rate
+ models. See Section \ref{sec-singlet-multit-modes}
+ \item \textit{SingleTasking} selects SingleTasking mode. See
+ Section \ref{sec-singlet-mode} for details.
+ \item \textit{MultiTasking} select MultiTasking mode. In
+ this mode \textit{Higher priority value indicates higher
+ task priority} should be checked. See Section
+ \ref{sec-multit-mode} for details.
+ \end{compactitem}
+
\begin{figure}
\centering
\includegraphics[scale=.45]{images/simulink_solver.png}
\begin{compactitem}
\item Configure include search path to contain the directory of
used FreeRTOS version, e.g.
- \texttt{\repo/os/7.0.2/include}. See Section
+ \texttt{\repo/os/8.2.2/include}. See Section
\ref{sec-software-architecture}.
\item Include \texttt{rpp/rpp.h} header file or just the needed
peripheral specific header files such as \texttt{rpp/can.h}.
\section{Changing operating system}
\label{sec-changing-os}
The C Support Library contains by default the FreeRTOS operating
-system in version 7.0.2. This section describes what is necessary to
+system in version 8.2.2. This section describes what is necessary to
change in the library and other packages in order to replace the
operating system.
the operating system header files.
Current implementation for FreeRTOS includes a header file
-\texttt{\repo/rpp/lib/os/\-7.0.2\-include/os.h}, which
+\texttt{\repo/rpp/lib/os/\-8.2.2\-include/os.h}, which
contains all necessary declarations and definitions for the FreeRTOS.
We suggest to provide a similar header file for your operating system as
well.
\begin{itemize}
\item Sampling frequencies up to 1\,kHz.
-\item Multi-rate models are executed in a single thread in
- non-preemptive manner. Support for multi-threaded execution will be
- available in the final version and will require careful audit of the
- RPP library with respect to thread-safe code.
+\item Multi-rate models can be executed in a single or multiple OS
+ tasks. Multi-tasking mode allows high-rate tasks to preempt low-rate
+ tasks. See Section \ref{sec-singlet-multit-modes} for more details.
\item No External mode support yet. We work on it.
\item Custom compiler options, available via OPTS variable in
\emph{Make command} at \emph{Code Generation} tab (see Figure
\item[rpp/rpp] Contains set of support script for the Code Generator.
\end{description}
+\section{Tasking modes}
+\label{sec-singlet-multit-modes}
+
+This section describes two different modes (single- and multi-tasking)
+of how generated code of multi-rate models can be executed. Tasking
+mode can be selected for every model in the configuration dialog as
+described in Section \ref{sec-crating-new-model}.
+
+For single-rate models, the mode selection does not matter. For
+multi-rate models, the mode selection becomes important as it may
+influence certain system properties such as safety or performance.
+
+\subsection{SingleTasking mode}
+\label{sec-singlet-mode}
+In this mode all Simulink tasks, defined by their sampling rate, run
+in a single operating system task (thread). This means that the period
+of the highest rate Simulink task cannot be greater than the
+worst-case execution time of all Simulink tasks together. On the other
+hand, using this mode reduces the risk of failures caused by task
+synchronization errors, e.g. race conditions, deadlocks.
+
+\subsection{MultiTasking mode}
+\label{sec-multit-mode}
+
+In this mode every Simulink task, defined by its sampling rate, runs
+in its own operating system task (thread). Thread priorities are
+assigned based on task rates in such a way that tasks with higher
+rates can preempt tasks with lower rates. This means that the period
+of the fastest sampling rate is limited only by the execution time of
+this task and not of all the tasks in the system.
+
+This mode offers more efficient use of system resources (CPU) but
+there is a possibility of failures caused by task synchronization
+errors.
+
\section{Block Library Overview}
\label{sec-block-library-overview}
The Simulink Block Library is a set of blocks that allows Simulink models to use
character per second. The output speed is driven by the Simulink model step which is set to one
second.
-\subsection{Multi-rate single thread demo}
+\subsection{Multi-rate SingleTasking demo}
\label{sec:mult-single-thre}
\begin{figure}[H]\begin{center}
\noindent
\includegraphics[scale=.45]{images/demo_multirate_st.png}
-\caption{Multi-rate singlet hread Simulink demo for RPP.}
+\caption{Multi-rate SingleTasking Simulink demo for RPP.}
\end{center}\end{figure}
\textbf{Description:}
different rate. This is implemented with multiple Simulink tasks, each
running at different rate. In the generated code, these tasks are
called from a singe thread and therefore no task can preempt another
-one.
+one. See Section \ref{sec-singlet-mode} for more details.
The state of each LED is printed to the Serial Communication Interface
(115200-8-N-1) when toggled.
\label{tab:multirate_st_led_desc}
\end{center}
+\subsection{Multi-rate MultiTasking demo}
+\label{sec:mult-multi-thre}
+
+\begin{figure}[H]\begin{center}
+\noindent
+\includegraphics[scale=.45]{images/demo_multirate_mt.png}
+\caption{Multi-rate MultiTasking Simulink demo for RPP.}
+\label{fig:multitasking-demo}
+\end{center}\end{figure}
+
+\textbf{Description:}
+
+This demo toggles LEDs on the Hercules Development Kit with different
+rate (different colors in Figure~\ref{fig:multitasking-demo}). This is
+implemented with multiple Simulink tasks, each running at different
+rate. In the generated code, every subrate task runs in its own
+operating system thread. See Section \ref{sec-multit-mode} for more
+details.
+
+The state of each LED is also printed to the Serial Communication
+Interface (115200-8-N-1) when toggled.
+
+\begin{center}
+ \begin{tabular}{lll}
+ \rowcolor[gray]{0.9}
+ LED & pin & rate [s] \\
+ 1 & NHET1\_25 & 0.3 \\
+ 2 & NHET1\_05 & 0.5 \\
+ 3 & NHET1\_00 & 1.0 \\
+ \end{tabular}
+ \captionof{table}{LEDs connection and rate}
+ \label{tab:multirate_mt_led_desc}
+\end{center}
+
+
\chapter{Command line testing tool}
\label{chap-rpp-test-software}
projects / pes-rpp / rpp-simulink.git / blobdiff