The document discusses the use of Scilab/Xcos/X2C for rapid prototyping in motor control algorithm development, emphasizing the integration with Microchip tools such as MPLAB X. It provides an overview of the workflow, installation, and capabilities of the X2C library, highlighting features like code generation, real-time debugging, and automated documentation. The session culminates in a demo showcasing model simulation and parameter adjustments within the X2C framework.

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Faster Time to Market using Scilab/XCOS/X2C for motor
control algorithm development
Christoph Baumgartner, Microchip Technology Inc.
Scilab Conference 2019

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Class Agenda
• Rapid Prototyping Overview
• Develop and simulate your application
• IDE integration (MPLAB X, MCC, Harmony3)
• Run and verify your model on your target platform
• Sensorless field oriented control demo
• Summary

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Rapid Prototyping
Commercial:
Matlab/Simulink +
Microchip Toolboxes
OPENSOURCE:
SCILAB/Xcos + X2C

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the Goal.....
Simulate a physikal system .1
Generate code from the simulation .2
Verify simulation and real world .3
variable load
Dynamometer
algorithm
motor

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Rapid Prototyping - birds view
MPLAB XSCILAB / XCOS / X2C
X2C communicator
simulation
(PC)
realtime UART
verification
code generation
hardware

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Installation MCHP_X2C_V6.xx.yy
Select which modules you want to install:
• X2C
• X2C Demos
• X2C MCC Library
• X2Cscope (C-project UART debugging)
• X2Cscope MCC library
• X2Cscope demo projects
• X2Cscope library projects
• X2C Harmony 2
• MHC2 X2C integration
• Harmony 2 X2C demos
• X2C Harmony 3
• MHC3 X2C integration
• Harmony 3 X2C demos
• Activate X2C in Scilab

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Structure of X2C
Model INports
X2C housekeeping
X2C Blocks
Model OUTports

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X2C Libraries
OPENSOURCE

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MCHP MC library
We have developed a
MC libraries with
• 16bit fract
• 32bit fract
• 32bit float
The library is available for free.
dsPIC implementation uses
the original MCLib.

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Building Process
MPLAB X
or with batch file
right after code generation

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Realtime Tuning/Debugging
Interfaces:
UART
USB/CDC
Ethernet
CAN

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Documentation
Automatic documentation
using
MikTex
and
doxygen

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 Generated code is human readable
 Instant online parameter update to target
 Simulation with “target code” in XCOS
 Automated documentation generation
 Virtual oscilloscope
 Comprehensive libraries
 Multiple fixed and floating point implementations
 Inbuilt parameter conversion
 Parameter upload (from target), incl. model
 MISRA conformity of blocks (X2C library only)
 Multirate model support
 ANY 16 and 32 bit device from Microchip is supported
 Fully integrated into MPLAB Harmony3 and MCC
 UART, USB-CDC,TCPIP, CAN support
 dsPIC specific MClibrary
X2C Highligths

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Miktex
Software packages
X2C
Library blocks
(from LCM)
Scilab
XCOS
X2C
Communicator
Model code
X2C.c
X2C.h
Framework project
Peripheral driver
MPLAB X
MCC
Harmony2/3
doxygen
PDF documentation

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Workflow (existing project + compileandflash.bat)
1. Start MPLAB X + open project + MCC
2. Goto X2C MCC library [MPLAB X]
3. Open model [MPLAB X-X2C MCC lib]
4. Start the Communicator [XCOS]
5. Develop the model [XCOS]
6. Transform Model and push to
communicator [XCOS]
7. Generate C-code (automatically executes
the post process batch for compiling and
programming) [Communicator]
8. {Verify UART settings [Communicator]}
9. {Connect to hardware [Communicator]}
10. {Start Scope [Communicator]}
11. Modify block parameters [Communicator or
XCOS]
12. Restart at 5
4 6
1
2
3
7
9 10

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DEMO
1. Click on X2C
2. Open the Scilab model

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1st Demo (continued)
Execute initProject.sce
&
Simulate your model with
run.sce
Play with parameters
and
simulate again !!!

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1st Demo (continued)
1st start the
communicator
2nd transfer the
model to the
communicator

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Automatic programing from X2CCommunicator
Make sure you have generated code with
MCC, this has updated the
„compileandflash.bat“ file with your compiler
and programmer settings.
Add the compileandflash.bat from the .X
project directory as a Post-Generate script in
the X2CCommunicator settings
The next time you generate model code it will
automatically compiled and programmed.

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1st Demo (continued)
Parameters can also be
modified by clicking onto a
model block. Even changing
with the mousewheele is
possible.

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Code structure
main
init
communicate
mainTask()
Inports.x
handling
*Outports.y
handling
X2C_update();
interrupt:
execution rate:
X2C_sampletime
Model execution
Communication with
the scope.

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Class Summary
• Today we covered:
• Rapid Prototyping based on SCILAB/X2C
• Develop a model
• Simulate and generate code
• Verify the simulation results on the real
hardware
• POWERFULL INTEGRATION in
MICROCHIP IDE

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don‘t forget:
WE spin motors!!!

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Thank you