Update another link to DCE server which has been renamed to control.fel.cvut.cz

[ert_linux_web.git] / can_bus / index.html

diff --git a/can_bus/index.html b/can_bus/index.html
index 8cae153bacdb43a3025b8eaa86bf5d9d84b58dee..3d8511c5bdfb10e448b1c145b3f47ddfb96d5c14 100644 (file)
--- a/can_bus/index.html
+++ b/can_bus/index.html
@@ -38,7 +38,7 @@ can be selected by system administrator from commandline
 <pre>
 ip link set can0 down
 ip link set can0 type can bitrate 1000000 
-ip link set can0 down
+ip link set can0 up
 </pre>
 or on Debian based systems <tt>/etc/network/interfaces</tt>
 configuration file can be used to setup CAN interface baudrate
@@ -51,12 +51,73 @@ iface can0 can static
 The later setup works automatic even with CAN-USB converter hotplug.
 </p>
 
+<h2 id="included_files">Project Included Files</h2>
+<p>
+The projects includes blocks library <b>socketcan_lib.slx</b>, simple
+example of provided blocks use <b>cantransmit_ert.slx</b> and more
+complex model <b>canopen_2j_arm_ert.slx</b> which demonstrates
+use of the block to send PDO messages to two stepper motors
+controlled robotic arm. This simple CAN library does not
+provide CANopen support yet so initial motors SDO parameters
+setup is solved by <b>canopen_2j_arm_setup</b> shell
+script which invokes <tt>cansend</tt> command.
+The variant of the model (<b>canopen_2j_arm_rpi.slx</b>) with
+build parameters preset for crosscompilation to Raspberry Pi
+is provided as well.
+The CAN-USB converter from 8devices has been used in this case. 
+</p>
+
+<h2 id="simulink_setup">Simulink Target Setup</h2>
+<p>
+Download/clone <a href="http://lintarget.sourceforge.net/">ERT Linux</a> target
+and Linux CAN bus toolbox repositories. The example expects the toolbox
+are placed into user local <tt>~/matlab/toolbox</tt> directory.
+Setup Matlab path for thee projects. One option is to use <tt>~/matlab/startup.m</tt>
+file for this purpose:
+</p>
+<pre>
+function startup(AddRem)
+
+disp 'Executing local setup stript ~/matlab/startup.m'
+
+restoredefaultpath
+
+[matlab_startup_dir, matlab_startup_filename, matlab_startup_dir_ext] = fileparts(mfilename('fullpath'));
+
+addpath(fullfile(matlab_startup_dir, 'toolbox/ert_linux/ert_linux'));
+addpath(fullfile(matlab_startup_dir, 'toolbox/socketcan-simulink/blocks'));
+</pre>
+<p>
+Use example model as base for the project or open <b>Simulation</b> &rarr; <b>Model Configuration Parameters</b>
+dialog and select <b>System target file</b> to <tt>ert_linux.tlc</tt> in <b>Code Genration</b> section.
+Check <b>Make command</b>. It should be something like:
+</p>
+<pre>
+make_rtw OPT_OPTS="-O2 -ggdb -Wall -D_BSD_SOURCE"
+</pre>
+<p>
+Use proper <tt>CC</tt> variable definition  in case of cross compilation to some other target.
+See next example for Raspberry Pi:
+</p>
+<pre>
+make_rtw OPT_OPTS="-O2 -ggdb -Wall -D_BSD_SOURCE" CC=arm-rpi-linux-gnueabihf-gcc
+</pre>
+
 <h2 id="links">Links</h2>
 <dl>
   <dt>Linux CAN bus toolbox repository</dt>
     <dd><a href="http://rtime.felk.cvut.cz/gitweb/socketcan-simulink.git" target="_blank">http://rtime.felk.cvut.cz/gitweb/socketcan-simulink.git</a>
     <br><tt>git clone git://rtime.felk.cvut.cz/socketcan-simulink.git</tt> 
     </dd>
+  <dt>Usable Simulink Embedded Coder Target for Linux</dt>
+    <dd>Michal Sojka, Pavel Pisa<br>
+    <a href="https://www.osadl.org/RTLWS-2014.rtlws-2014.0.html">16th Real-Time Linux Workshop</a>,
+    Düsseldorf, Germany, October 2014.
+    The <a href="http://rtime.felk.cvut.cz/publications/public/ert_linux.pdf">paper (PDF)</a>
+    and <a href="http://rtime.felk.cvut.cz/publications/public/ert_linux-rtlws2014.pdf">slides (PDF)</a>
+    are available from our
+    <a href="http://rtime.felk.cvut.cz/publications/">publications archive</a>.
+    </dd>
 </dl>
 
 </div>