doc: Describe board_init_hydctr demo

diff --git a/doc/images/demo_board_init_hydctr.png b/doc/images/demo_board_init_hydctr.png
new file mode 100644 (file)
index 0000000..8c9e705
Binary files /dev/null and b/doc/images/demo_board_init_hydctr.png differ

diff --git a/doc/rpp_simulink.tex b/doc/rpp_simulink.tex
index c2dbb1876e861a1b7ecc16ccf04510668f6e936c..5d21ff05a4146019ab86333fec982f65ff9e7a7f 100644 (file)
--- a/doc/rpp_simulink.tex
+++ b/doc/rpp_simulink.tex
@@ -188,11 +188,14 @@ Michal \textsc{Sojka}\\[\baselineskip]
                                       \ref{sec:block:sfunction_gio_in.c},
                                       \ref{sec:block:sfunction_gio_out.c})
                                       have different parameters and
-                                      support certain SPI5 pins on
+                                      support certain SPI5 pins on the
                                       tms570\_hydctr board. Parameters
                                       of old GIO blocks are
                                       automatically transformed to the
                                       new ones.
+
+                                      Added section \ref{sec:board-init-hydctr}: ``Hydraulics controller
+                                      initialization demo''.
            \\\hline
 \end{tabularx}
 
@@ -2556,7 +2559,25 @@ Interface (115200-8-N-1) when toggled.
        \label{tab:multirate_mt_led_desc}
 \end{center}
 
+\subsection{Hydraulics controller initialization demo}
+\label{sec:board-init-hydctr}
+\begin{figure}[H]
+  \centering
+  \includegraphics[scale=0.45]{images/demo_board_init_hydctr.png}
+  \caption{board\_init\_hydctr demo}
+  \label{fig:board_init_hydctr}
+\end{figure}
+
+\paragraph{Description}
 
+This demo shows how to use the \emph{Board Init} block to initialize
+SPI devices on the Hydraulics Controller board. Additionally, it shows
+how to use unused SPI pins on the MCU as general-purpose IOs. If both
+Board Init and GIO SPI blocks are used together, care must be taken
+about the order in which the blocks are initialized. GIO blocks that
+represent SPI pins must be initialized \emph{after} the Board Init
+block. This can be ensured by giving the GIO blocks higher priority
+than the Board Init block.
 
 \chapter{Command line testing tool}
 \label{chap-rpp-test-software}