X-Git-Url: https://rtime.felk.cvut.cz/gitweb/ert_linux_web.git/blobdiff_plain/06b1ec51ec119f837a9652180d7ee8827d85173a..73fb5df7915d4488b13124e53e98fba97dd3b56f:/index.html diff --git a/index.html b/index.html index 2504cc5..1473858 100644 --- a/index.html +++ b/index.html @@ -10,10 +10,12 @@ -
+

+[[!img ert_linux_snapshot1.png size="300x" align=right alt="Screenshot or ert_linux"]] + Linux ERT target for MathWorks' Simulink® Embedded Coder® allows to compile a model of designed control system @@ -50,40 +52,14 @@ developers and researchers at the OSADL booth (hall 5 booth 276). -

Project Background

- -

-The Linux ERT has been initially developed at DCE of -CTU in order to create a dynamic environment model for hardware -(airplane) in the loop testing of a fly-by-wire system -at AERO Vodochody a.s.. Simulink -has been run on Windows host computer initially and code generated for -GNU/Linux embedded target system was compiled -under MinGW/MSYS -environment and then uploaded to PowerPC -based BOA5200 -computer. The target computer was equipped with two CAN -interfaces. CANopen -blockset based on CANfestival -project was used to control distributed servosystem used to simulate -fly-by-wire system load. Simulink CANopen blockset integrates a -SocketCAN driver configuration and CAN messages -processing support to the generated code and enables the user to develop distributed embedded -control applications with CANopen communication.

- -

Original code generation workflow

- -

Model including node controlled over CANopen

- -

Lukáš Hamáček, “RTW target for Linux with CANopen support”, Master Thesis, Prague 2009. (Pdf)

-

Native Linux Real-Time and I/O Cards Support

-

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 Michal +

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 Michal Sojka's blog post. UIO driver and blockset has been implemented to support Humusoft data acquisition cards (MF624 for now).

@@ -112,6 +88,33 @@ HW Wiki page.

+

Project Background

+ +

+The Linux ERT has been initially developed at DCE of +CTU in order to create a dynamic environment model for hardware +(airplane) in the loop testing of a fly-by-wire system +at AERO Vodochody a.s.. Simulink +has been run on Windows host computer initially and code generated for +GNU/Linux embedded target system was compiled +under MinGW/MSYS +environment and then uploaded to PowerPC +based BOA5200 +computer. The target computer was equipped with two CAN +interfaces. CANopen +blockset based on CANfestival +project was used to control distributed servosystem used to simulate +fly-by-wire system load. Simulink CANopen blockset integrates a +SocketCAN driver configuration and CAN messages +processing support to the generated code and enables the user to develop distributed embedded +control applications with CANopen communication.

+ +

Original code generation workflow

+ +

Model including node controlled over CANopen

+ +

Lukáš Hamáček, “RTW target for Linux with CANopen support”, Master Thesis, Prague 2009. (Pdf)

+

Project Contributors

@@ -131,11 +134,11 @@ HW Wiki page.

Libor Waszniowski
xwasznio@fel.cvut.cz -
the former DCE CTU researcher responsible for project founding and delivery to AERO Vodochody. +
former DCE CTU researcher responsible for the project with AERO Vodochody.
Lukáš Hamáček
-
xwasznio@fel.cvut.cz -
former CTU master study programe student. +
+ former CTU master student.