From c184ad2293f83e6135446df569f7162251ba3e18 Mon Sep 17 00:00:00 2001 From: Michal Sojka Date: Fri, 7 Mar 2014 16:51:48 +0100 Subject: [PATCH] Update text --- index.html | 79 ++++++++++++++++++++++++++++++++++-------------------- 1 file changed, 50 insertions(+), 29 deletions(-) diff --git a/index.html b/index.html index 968545d..2504cc5 100644 --- a/index.html +++ b/index.html @@ -13,18 +13,23 @@

-Linux ERT target is based on MathWorks' generic Unix target -for Simulink Embedded Coder®. It allows to compile -dynamic model/control system designed in Simulink to the C-code and combine it with target specific -support functions. The resulting executable/controller is then run model in real-time on the target system. -The recent version is optimized to use real-time capabilities of -real-time variant of -Linux kernel. -The control system sampling frequencies up to 20 kHz with no losing sample per months -can be achieved by carefully selected x86 or embedded system (see OSADL -Quality Assurance Farm). + +Linux ERT target +for MathWorks' Simulink® +Embedded Coder® allows to compile a model of designed control system +to the C-code and combine it with target specific support functions. +The resulting executable/controller can be run in real-time on the +target Linux system. The running dynamic system can be augmented via +tunable block parameters in the Simulink model and data can be +acquired and visualized with Simulink scopes.

+

+ Linux ERT target uses heavily real-time capabilities + of real-time variant of the Linux + kernel. The resulting control system supports sampling frequencies + up to 20 kHz.

+
Page Contents @@ -35,7 +40,11 @@ can be achieved by carefully selected x86 or embedded system (see Amper + exhibition from 18th to 21st March 2014 in Brno, Czech Republic. +
  • +Linux ERT at Embedded World exhibition – 25 until 27 February 2014 - Visit DCE CTU developers and researchers at the OSADL booth (hall 5 booth 276).
    • @@ -44,14 +53,20 @@ developers and researchers at the OSADL booth (hall 5 booth 276).

    Project Background

    -The Linux ERT has been initially designed at DCE of CTU to develop and realize dynamic environment model -for hardware (airplane) in the loop testing of 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 by two CAN interfaces. CANopen -blockset based on CANfestival is used to control distributed -servosystem used to simulate fly-by-wire system load. Simulink CANopen blockset integrates a +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.

    @@ -64,23 +79,29 @@ control applications with CANopen communication.

    Native Linux Real-Time and I/O Cards Support

    -

    The Linux ERT target is updated and optimized to use Linux kernel timing mechanism with lower -maximal latencies now. Matlab/Simulink run on GNU/Linux desktop system as development system is supported now. -More information about update can be found on respective Michal Sojka's blog page. -UIO driver and blockset has been implemented to 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 +Sojka's blog post. UIO driver and blockset has been implemented to +support Humusoft data acquisition cards (MF624 for now).

    -

    UIO (User Space I/O) driver for the MF624 card is already included in Linux kernel mainline. More -documentation for this driver can be found in Rostislav Lisový master thesis and on DCE HW Wiki page

    +

    UIO driver for the MF624 card +is already included in the Linux mainline kernel. More documentation +for this driver can be found +on DCE +HW Wiki page.

    Source Code and Download

    Lintarget at Source Forge
    -
    http://sourceforge.net/projects/lintarget/ -
    project download area contains original Linux target code for CANopen based distributed system +
    project download area + contains released versions of the Linux target and CANopen based distributed system
    -
    Updated Linux ERT core support
    +
    Linux ERT source code repository
    http://rtime.felk.cvut.cz/gitweb/ert_linux.git
    version updated for real-time and native GNU/Linux host/target system setup
    @@ -119,7 +140,7 @@ documentation for this driver can be found in Rostislav Lisový master thesis an
    -

    DCE - Department of Control Engineering - +

    DCE – Department of Control Engineering – Czech Technical University in Prague, Faculty of Electrical Engineering

    Acknowledgment

    -- 2.39.2