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Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015
Embedded Solutions; Skiba Gr...
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ScilabTEC 2015 - Embedded Solutions

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"Utilizing Scilab and Xcos for real-time control and measurement applications"
By Grzegorz Skiba, Embedded Solutions for ScilabTEC 2015

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ScilabTEC 2015 - Embedded Solutions

  1. 1. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 1 Utilizing Scilab and Xcos for real-time control and measurement applications Grzegorz Skiba Embedded Solutions skiba.g@embedded-solutions.pl
  2. 2. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 2 Agenda  MicroDAQ device and software overview  MicroDAQ toolbox for Scilab  Features overview  Code generation for MicroDAQ DSP core  Tools  Examples  Q&A
  3. 3. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 3 MicroDAQ device  Real-time control and measurement system  Dedicated DSP core for signal and real-time processing  Ethernet, USB2.0 and WiFi connectivity  ADC, DAC, DIO, PWM, Encoder,...
  4. 4. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 4 MicroDAQ device MicroDAQ E1100  375MHz CPU  4GB flash memory  Ethernet  Wi-Fi  USB2.0  32 DIO lines  8 analog inputs  8 analog outputs  Matlab/Simulink, LabVIEW and Scilab support  Price from 200€ MicroDAQ E2000  up to 456MHz CPU  up to 32GB flash memory  Ethernet  Wi-Fi  USB2.0  16 DIO lines  up to 16 analog inputs  8 analog outputs  Matlab/Simulink, LabVIEW, Scilab support  Price from 400€ MicroDAQ OEM  375MHz CPU  4GB flash memory  Ethernet  USB2.0  USB1.1  32 DIO lines  8 analog inputs  8 analog outputs  Matlab/Simulink, LabVIEW, Scilab support
  5. 5. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 5 MicroDAQ device  Processing units  TI C6000 DSP core with floating/fixed point unit  ARM core with Linux OS for handling communication, file storage, web interface  two PRU 32-bit RISC cores for real-time processing  Storage up to 32GB  Digital I/O  16/32 DIOs, 6 PWMs, 2 Encoders, UART  Analog I/O Analog input Analog output 166ksps, 8 channel, 12-bit, ±10V range 166ksps, 8 channel, 16-bit, ±10V range 600ksps, 8 channel, 12-bit, ±10V range 600ksps, 16 channel, 12-bit, ±10V range 500ksps, 16 channel, 16-bit, ±10V range 4000ksps, 2 channel, 16-bit, ±10V range 8 channel, 12-bit, 0-5V range 8 channel, 12-bit, ±10V range 8 channel, 16-bit, ±10V range Simultanious sampling ADCs C6000 DSP 375/456MHz Floating/fixed point ARM 375/456MHz with Linux PRU0 187/228MHz 32-bit RISC PRU1 187/228MHz 32-bit RISC
  6. 6. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 6 MicroDAQ software  MLink software  Windows/Linux support  Access to MicroDAQ resources  Loading DSP  Scilab support functions  DSPLib  LabVIEW support package  Matlab/Simulink Embedded Coder target  MicroDAQ toolbox for Scilab Available at: https://github.com/microdaq Host MLink library Linux/Windows UDP/TCP Ethernet Wi-Fi Scilab/Xcos LabVIEW Matlab/Simulink C/C++ application
  7. 7. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 7 MicroDAQ toolbox features  Automatic code generation for MicroDAQ DSP  Xcos for MicroDAQ peripherals  Live data access from generated DSP application via Ethernet and WiFi with standard Xcos sinks  Application loading with Ethernet and WiFi  Standalone mode  Easy integration of custom user C code
  8. 8. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 8 MicroDAQ toolbox features  MicroDAQ hardware (ADC, DAC...) access macros  DSP model utilization with Scilab script, C/C++ application and LabVIEW  Execution profiling  Toolbox as a part for Atoms installer  Support for Linux and Windows
  9. 9. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 9 MicroDAQ toolbox components Texas Instruments Code Composer Studio 5 C6000 DSP compiler SYS/BIOS RTOS MicroDAQ Toolbox Loading DSP binary TCP data communication MLink DSP drivers for MicroDAQ TCP data communication DSPLib Precompiled Scilab libraries for DSP core Scilab libs
  10. 10. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 10 Installation  Atoms → Instrumentn Control → MicroDAQ Toolbox  Install Code Composer Studio 5.5 – with C6000 DSP compiler and SYS/BIOS RTOS  microdaq_setup  Code Composer Studio installation paths  SYS/BIOS RTOS compilation  connect MicroDAQ device and setup IP settings  check connection -->mdaq_ping Connecting to MicroDAQ@10.10.1.1...OK!  Ready to go!
  11. 11. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 11 MicroDAQ toolbox blocks  MicroDAQ blocks for hardware access  Special MicroDAQ blocks for setup model parameters  Standard Xcos blocks compiled for DSP  Host simulation mode and code generation
  12. 12. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 12 MicroDAQ special blocks  SETUP block  Simulation duration  Build type: debug/release  Build mode: Ext/Standalone  Execution profiling  ODE solver type  SIGNAL block  receive live data from DSP  STOP block
  13. 13. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 13 Xcos diagram for code generation  SETUP block  Event generator to set step time  Superblock for code generation  Tools → MicroDAQ build and load model  Execution mode  Standalone – load and start model on DSP immediately  Ext – load model on DSP and wait for user action
  14. 14. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 14 Model execution modes Model (Real-time task) TCP communication (Idle task) DSP application MLink TCP communication Xcos Model (Real-time task) DSP application Ext mode Standalone mode
  15. 15. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 15 Code generation ### Generating block structure... ### Writing generated code... ### Generating Makefile... ### Generating binary file... "C:ticcsv5toolscompilerc6000_7.4.4/bin/cl6x" -c -g -mv6740… "C:ticcsv5toolscompilerc6000_7.4.4/bin/cl6x" -c -g -mv6740… "C:ticcsv5toolscompilerc6000_7.4.4/bin/cl6x" -c -g -mv6740… "C:ticcsv5toolscompilerc6000_7.4.4/bin/cl6x" -c -g -mv6740… <Linking> "MicroDAQ DSP application led_demo.out created successfully" Xcos diagram mdaq_ext_main.c or mdaq_standalone_main.c C code generation C6000 DSP compiler C6000 linker SYS/BIOS RTOS DSPLib MicroDAQ blocks Scilab libs DSP binary Makefile generation SETUP block Loading DSP binary User blocks lib
  16. 16. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 16 Running DSP application with Xcos simulation MicroDAQ DSP Xcos Code generation Loading DSP on targetInitialize model execution create TCP server Wait for connection Xcos Start button action connects to MicroDAQ and starts Xcos simulation Create connection with host Execute model and send data with SIGNAL block Xcos simulation receive data with SIGNAL block Xcos diagram
  17. 17. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 17 Running DSP application with Xcos simulation Generated DSP code int sin_demo_isr(double t) { int local_flag; int i; double *args[100]; /* Output computation */ /* Discrete activations */ /* Blocks activated on the event number 1 */ /* Call of 'mdaq_sinus' (type 4 - blk nb 2) */ block_sin_demo[1].nevprt = 1; local_flag = 1; mdaq_sinus(&block_sin_demo[1],local_flag); /* Call of 'mdaq_signal' (type 4 - blk nb 3) */ block_sin_demo[2].nevprt = 1; local_flag = 1; mdaq_signal(&block_sin_demo[2],local_flag); /* Call of 'cscope' (type 4 - blk nb 4) */ block_sin_demo[3].nevprt = 1; local_flag = 1; cscope(&block_sin_demo[3],local_flag); return 0; } Xcos simulation ● When DSP is loaded SIGNAL input is ignored ● SIGNAL block receives data from MicroDAQ ● When DSP in not loaded copy SIGNAL block input to output ● mdaq_signal() funciton puts data to IDLE communication task ● cscope() function is empty
  18. 18. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 18 DC motor controller ● Sample time: 0.001s ● Discrite PD controller ● H-bridge for driving DC motor ● Live data with standard CSCOPE block ● Loging data to workspace with standard 'To workspace' block
  19. 19. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 19 Execution profiling  Measure model execution time  Optimization  How 'fast' we can run model  Execution profiling macros  mdaq_exec_profile  mdaq_exec_profile_show
  20. 20. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 20 Custom user code  For new user creating custom block is a tough task  Block code and C code generation  Created code can be compiled for debug and release  Block creation utility macros  mdaq_block();  mdaq_block_add();  mdaq_block_build( %t );
  21. 21. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 21 User custom code -->my_block = mdaq_block(); -->my_block my_block = name: "new_block" desc: "Set new_block parameters" param_name: [2x1 string] param_size: [2x1 constant] param_def_val: list in: 1 out: 1 -->my_block.param_name ans = !param1 ! ! ! !param2 ! -->mdaq_block_add(my_block); /* Generated with MicroDAQ toolbox ver: 1.0. */ #include "scicos_block4.h" extern double get_scicos_time( void ); /* This function will executed once at the beginning of model execution */ static void init(scicos_block *block) { /* Block parameters */ double *params = GetRparPtrs(block); /* param size = 1 */ double param1 = params[0]; /* param size = 1 */ double param2 = params[1]; /* Add block init code here */ } /* This function will be executed on every model step */ static void inout(scicos_block *block) { /* Block parameters */ double *params = GetRparPtrs(block); /* param size = 1 */ double param1 = params[0]; /* param size = 1 */ double param2 = params[1]; /* Block input ports */ double *u1 = GetRealInPortPtrs(block,1); int u1_size = GetInPortRows(block,1); /* u1_size = 1 */ /* Block output ports */ double *y1 = GetRealOutPortPtrs(block,1); int y1_size = GetOutPortRows(block,1); /* y1_size = 1 */ /* Add block code here (executed every model step) */ }
  22. 22. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 22 MicroDAQ hardware access macros link_id = mdaq_open(); ai_data = mdaq_ai_read(link_id, [1 2 3 4 5 6 7 8], 10, 1) mdaq_close(link_id);  Access to MicroDAQ hardware without code generation  Example  IP settings managment  Switching from Ethernet to Wi-Fi mdaq_pwm_write mdaq_pwm_init mdaq_pru_set mdaq_pru_get mdaq_led_write mdaq_key_read mdaq_hs_ai_read mdaq_hs_ai_init mdaq_enc_read mdaq_enc_init mdaq_dio_write mdaq_dio_read mdaq_dio_func mdaq_dio_dir mdaq_ao_write mdaq_ai_read Scilab macros: mdaq_ping, mdaq_set_ip mdaq_set_ip('10.10.2.1');
  23. 23. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 23 Model utilization LabVIEW Scilab script Xcos C/C++ application
  24. 24. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 24 Utilizing DSP model in Scilab script // Start DSP application result = dsp_start('fft_demo_scigfft_demo.out'); // Register signal ID and signal size dsp_signal(123, 1); first_time = 1; a = []; // Process data from DSP sample_count = 500; for i=1:500 [result, s] = dsp_signal_get(sample_count); t = 0:1/sample_count:1; N=size(t,'*'); //number of samples y=fft(s'); f=sample_count*(0:(N/2))/N; //associated frequency vector n=size(f,'*') if first_time == 1 then clf() plot(f,abs(y(1:n))) first_time = 0; a = gca(); else a.children.children.data(:,2) = abs(y(1:n))'; end end // Stop DSP execution dsp_stop();
  25. 25. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 25 Utilizing model with C/C++ application  Embed Xcos generated model in Windows/Linux application  MLink interface functions  Example code scilab_dsp_start("10.10.1.1", &port, "q:analog_loop.out", &link_id); scilab_signal_register(&link_id, &id, &size, &result); for (count = 0; count < 100; count++) { scilab_signal_read(&link_id, buf, &size, &result); /* process DSP data */ scilab_mem_write(&link_id, 1, param, 2); } scilab_dsp_stop(&link_id, &result); ● /* Scilab interface funcations */ EXTERNC MDAQ_API void scilab_dsp_start( const char *addr, int *port, const char *dspapp, int *link_id ); EXTERNC MDAQ_API void scilab_dsp_stop( int *link_id, int *result ); EXTERNC MDAQ_API void scilab_signal_register( int *link_id, int32_t *id, int32_t *size, int *result ); EXTERNC MDAQ_API void scilab_signal_read( int *link_id, double *data, int32_t *count, int *result ); EXTERNC MDAQ_API int scilab_mem_read( int *link_id, int start_idx, int len, float *data ); EXTERNC MDAQ_API int scilab_mem_write( int *link_id, int start_idx, float data[], int len );
  26. 26. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 26 Utilizing model with LabVIEW  Analog loop  SIGNAL block  MEM read block for model parameter change
  27. 27. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 27 Utilizing model with LabVIEW ● Real-time processing ● Live DSP data ● Parameter change during DSP execution
  28. 28. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 28 Conclusions  Code generation from Xcos diagram  Real-time procesing  Execution profiling  DSP binary utilization with LabVIEW and Windows/Linux C/C++ applications  Different hardware options avaliable  Easy to use  Free alternative for commercial solutions
  29. 29. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 29 Q&A
  30. 30. Utilizing Scilab and Xcos for real-time control and measurement applications – ScilabTEC 2015 Embedded Solutions; Skiba Grzegorz; skiba.g@embedded-solutions.pl 30 Thnak you!

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