</head>
<body>
-<div id="main_content">
+<div id="main_content" style="max-width: 60em;">
<p>
+[[!img ert_linux_snapshot1.png size="300x" align=right alt="Screenshot or ert_linux"]]
+
Linux ERT target
for <a href="http://www.mathworks.com/">MathWorks</a>' <a href="http://en.wikipedia.org/wiki/Simulink">Simulink</a>®
Embedded Coder® allows to compile a model of designed control system
</li>
</ul>
-<h2 id="prjbackground">Project Background</h2>
-
-<p>
-The Linux ERT has been initially developed at <a href="#dce">DCE of
-CTU</a> in order to create a dynamic environment model for hardware
-(airplane) in the loop testing of a fly-by-wire system
-at <a href="http://www.aero.cz/en">AERO Vodochody a.s.</a>. Simulink
-has been run on Windows host computer initially and code generated for
-GNU/Linux embedded target system was compiled
-under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a>
-environment and then uploaded to PowerPC
-based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a>
-computer. The target computer was equipped with two CAN
-interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
-blockset based on <a href="http://canfestival.org/">CANfestival</a>
-project was used to control distributed servosystem used to simulate
-fly-by-wire system load. Simulink CANopen blockset integrates a
-<a href="http://en.wikipedia.org/wiki/Socketcan">SocketCAN</a> driver configuration and CAN messages
-processing support to the generated code and enables the user to develop distributed embedded
-control applications with CANopen communication.</p>
-
-<p><img width=600 src="LinTarget.JPG" alt="Original code generation workflow"></p>
-
-<p><img width=600 src="CANopenExample.JPG" alt="Model including node controlled over CANopen"></p>
-
-<p>Lukáš Hamáček, “<b>RTW target for Linux with CANopen support</b>”, Master Thesis, Prague 2009. (<a href="dp_2009_hamacek_lukas.pdf">Pdf</a>)</p>
-
<h2 id="linuxnative">Native Linux Real-Time and I/O Cards Support</h2>
-<p>Later the Linux ERT target was updated and optimized to use proper
-Linux kernel timing mechanism with lower maximal latencies.
-Matlab/Simulink ruining on GNU/Linux desktop system as development
-system is supported now. More information about the update can be
-found in <a href="http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/">Michal
+<p>Current version of the Linux ERT target is optimized to use the
+proper Linux kernel timing mechanism with bounded maximal latencies.
+Matlab/Simulink running on GNU/Linux desktop system as development
+system is supported. More information about current version can be
+found
+in <a href="http://rtime.felk.cvut.cz/~sojka/blog/on-generating-linux-applications-from-simulink/">Michal
Sojka's blog post</a>. UIO driver and blockset has been implemented to
support
<a href="http://www.humusoft.com/produkty/datacq/">Humusoft data acquisition cards</a> (MF624 for now).</p>
</dl>
+<h2 id="prjbackground">Project Background</h2>
+
+<p>
+The Linux ERT has been initially developed at <a href="#dce">DCE of
+CTU</a> in order to create a dynamic environment model for hardware
+(airplane) in the loop testing of a fly-by-wire system
+at <a href="http://www.aero.cz/en">AERO Vodochody a.s.</a>. Simulink
+has been run on Windows host computer initially and code generated for
+GNU/Linux embedded target system was compiled
+under <a href="http://en.wikipedia.org/wiki/Mingw">MinGW/MSYS</a>
+environment and then uploaded to PowerPC
+based <a href="http://rtime.felk.cvut.cz/hw/index.php/Boa5200">BOA5200</a>
+computer. The target computer was equipped with two CAN
+interfaces. <a href="http://en.wikipedia.org/wiki/Canopen">CANopen</a>
+blockset based on <a href="http://canfestival.org/">CANfestival</a>
+project was used to control distributed servosystem used to simulate
+fly-by-wire system load. Simulink CANopen blockset integrates a
+<a href="http://en.wikipedia.org/wiki/Socketcan">SocketCAN</a> driver configuration and CAN messages
+processing support to the generated code and enables the user to develop distributed embedded
+control applications with CANopen communication.</p>
+
+<p><img width=600 src="LinTarget.JPG" alt="Original code generation workflow"></p>
+
+<p><img width=600 src="CANopenExample.JPG" alt="Model including node controlled over CANopen"></p>
+
+<p>Lukáš Hamáček, “<b>RTW target for Linux with CANopen support</b>”, Master Thesis, Prague 2009. (<a href="dp_2009_hamacek_lukas.pdf">Pdf</a>)</p>
+
<h2 id="contributors">Project Contributors</h2>
<dl>
</dd>
<dt>Libor Waszniowski</dt>
<dd><a href="mailto:xwasznio@fel.cvut.cz">xwasznio@fel.cvut.cz</a>
- <br>the former DCE CTU researcher responsible for project founding and delivery to AERO Vodochody.
+ <br>former DCE CTU researcher responsible for the project with AERO Vodochody.
</dd>
<dt>Lukáš Hamáček</dt>
- <dd><a href="mailto:xwasznio@fel.cvut.cz">xwasznio@fel.cvut.cz</a>
- <br>former CTU master study programe student.
+ <dd>
+ former CTU master student.
</dd>
</dl>
projects / ert_linux_web.git / blobdiff