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Linux ERT target for MathWorks' Simulink® Embedded Coder® allowsto compile a model of designed control system to the C-code andcombine it with target specific support functions. The resultingexecutable/controller can be run in real-time on the target Linuxsystem. The running dynamic system can be augmented via tunable blockparameters in the Simulink model and data can be acquired andvisualized with Simulink scopes.

MATLAB projects source code free download provides you complete source code for your MATLAB projects. We have developed nearly 1000+ projects in all the recent areas of Matlab. We have expert’s specific for each domain of Matlab, which makes our availability 24/7. Simulink by MathWorks is a standalone application software that works with MATLAB. Simulink provides a block diagram environment for Model-Based Design. It supports simulation, automatic code generation, and continuous testing of embedded systems. The operating systems that are natively compatible with this product.

Linux ERT target uses heavily real-time capabilities ofreal-time variant of the Linux kernelthat provides bounded maximal latencies. The resulting control systemsupports sampling frequencies up to 20 kHz. Matlab/Simulink GUIrunning on the same GNU/Linux desktop system as the generatedreal-time application is supported.

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More information about initial version developed by Michal Sojka at Department of Control EngineeringFEECTU can be found inMichal Sojka's blog post.

Page Contents

I/O and communication interface support

Humusoft MF624 data acquisition card.
UIO driver and Simulink blocksethas been developed. The UIO driver is alreadyincluded in the mainline Linux kernel.Simulink blockset is available from aseparate repository.More documentation about the UIO driver can be found onDCE HW Wiki page.
The Bhanderi's ComediToolbox suitable for most Linux Comedidriver supported analog and digital inputs/output cards has beensuccessfully tested with ert_linux target. The little updatedversion with target configuration example is available inlintarget projectdownload area.
The basic blocks for CAN bus communicationunder Linux are implemented.

RT-Capable Platform and Kernel

Standard distribution Linux kernel does not guarantee boundedlatencies for many operations. The use ofreal-time variant ofLinux kernel is required toguarantee bounded latencies. This kernel variants minimizes regionswhere switch to the highest priority (e.g. Linux ERT generated) taskis blocked by kernel when servicing system calls for other tasks.

Selection of the right version of the kernel is not enough fornon-disruptive operation. Computer system hardware selection iscritical as well. The system has to provide enough computational powerfor compiled in blocks data evaluation evaluation and Linux kernelservices processing. Other critical disturbance sources are hardwarecaused latencies and lags in a program processing by CPU. The sourcecan be bus systems load by other subsystems (i.e. graphic processormemory access, peripheral DMA - SSD, SD-card, Flash controller etc.).The other critical source of latencies in x86 based systems isSMI processing.The SMI enable and processing is under BIOS and motherboard vendorcontrol and this problem cannot be resolved by the operating system.This means that proper hardware selection is critical.

A long period evaluation data of different combinations of Linuxkernel version running on many CPU architectures and boards from manyvendors is OSADLQuality Assurance Farm.According to these track records carefully selected x86 or embeddedGNU/Linux system can run real-time tasks with sampling frequencies upto 20 kHz with no losing sample per months.

Source Code and Download

Download area at Sourceforgecontains released versions of the Linux target and CANopen baseddistributed system
Linux ERT source code repository GitHub DCE(the lastest version for now, with examples for native, ARM and AArch64/ARM64 builds),GitHub IIG,Original RTIME Repo.
Humusoft MF624 card support blockset
Initial version of blockset supporting analog and digitalinput/output, IRC, PWM and PWM measurement for MF624 cards.

Project Background

The Linux ERT has been initially developed atDCE of CTU in order to create a dynamicenvironment model for hardware (airplane) in the loop testing of afly-by-wire system at AERO Vodochody a.s..Simulink has been run on Windows host computer initially and codegenerated for GNU/Linux embedded target system was compiled underMinGW/MSYS environment and thenuploaded to PowerPC basedBOA5200 computer.The target computer was equipped with two CAN interfaces.CANopen blockset based onCANfestival project was used to controldistributed servosystem used to simulate fly-by-wire system load.Simulink CANopen blockset integrates aSocketCAN driverconfiguration and CAN messages processing support to the generatedcode and enables the user to develop distributed embedded controlapplications with CANopen communication.

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

Systems Controlled Linux Target for Embedded Coder

Some more information about concrete examples of controlled systems/setups:

Moving Slide parallel kinematic/robot control: The Linux ERT target is used at Adaptive Systems Department (Academy of Sciences of Czech Republic, UTIA institute) to realize control system for parallel kinematics control research projects. See respective page for more information about project.
Raspberry Pi minimal components DC motor servo control: Raspberry Pi is low cost hardware which does not implement any usual motor control peripherals in hardware. Yet fully preemptive variant of Linux kernel latencies are so low that fast signals processing in software allows to implement precise DC motor feedback control for incremental encoder inputs changing up to 15 kHz. See respective page for more information about project.
Permanent magnet synchronous motor control (PMSM) with SPI connected peripherals and power stage: The experiment is primarily focused on school labs. The experiment utilizes two extension boards. One is fully galvanically isolated 3/phases power stage with HAL effect based current sensing and differential IRC signals receiver. The other board provides peripherals (IRC processing and counting, PWM generation, current ADC results collection) required for vector PMSM motor control. This board is connected to Raspberry Pi simple board computer by SPI port. The control algorithm generated by the ERT target runs under fully preemptive Linux kernel at sampling rate 5 kHz. See respective page for more information about project.
The Xilinx Zynq DC motor and PMSM Motor Control: The FPGA based solutions provide flexibility unmatch by other hardware. This set of applications cobines XilinxZynq SoCs, Linux RT kernel, custom PMSM driver hardware and ert_linux Matlab/Simulink coder. The linux 4.19 kernel with RT preempt patches and with MathWork's FPGA IP drivers (mwipcore) applied can be found in branch linux-4.19.y-mwcore of the Pavel Pisa'a Linux kernel repository on GitHub. The mwipcore drivers are not required for this ert_linux solution, but RT patch is fundamental. The MZ_APO education kits (use MicroZed SBC) developed at PiKRON company to support teaching of Computer Architectures course at Department of Control Engineering are connected with the PMSM driver power stage developed initially for Altera DE2 kits with option to be SPI connected to Raspberry Pi are used with MZ_APO. The presentation GNU/Linux and FPGA in Real-time Control Applications presents the hardware. The Simulink model zynq_pmsm_motor_control.slx of PMSM controller is included along the Raspberry Pi example in repository https://github.com/ppisa/rpi-rt-control. The FPGA design can be found in branch microzed-mc-1 of the repository https://gitlab.fel.cvut.cz/canbus/zynq/zynq-can-sja1000-top. The MZ_APO education kit mechanical and electronics designs are available from https://gitlab.com/pikron/projects/mz_apo/microzed_apo.
Usable Simulink Embedded Coder Target for Linux: Michal Sojka, Pavel Pisa
16th Real-Time Linux Workshop, Düsseldorf, Germany, October 2014. The paper (PDF) and slides (PDF) are available from our publications archive.

Project Contributors

Michal Sojka: sojkam1@fel.cvut.cz , homepage http://rtime.felk.cvut.cz/~sojka/
teacher, researcher and developer at DCE CTU.
Pavel Píša: pisa@cmp.felk.cvut.cz , homepage http://cmp.felk.cvut.cz/~pisa/
teacher, researcher and developer at DCE CTU.
Rostislav Lisový: lisovros@fel.cvut.cz
former CTU master study programme student, Linux related projects developer at DCE now.
Libor Waszniowski: xwasznio@fel.cvut.cz
former DCE CTU researcher responsible for the project with AERO Vodochody.
Lukáš Hamáček: former CTU master student.

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

This work was supported by Ministry of Industry and Trade of the Czech Republic under ProjectFT—TA3/044 during period of 2006 to 2009 years.

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