RT-MaG: an open-source SIMULINK Toolbox for Linux-Based Real-Time Robotic Applications

Transcription

1 : an open-source SIMULINK Toolbox for Linux-Based Real-Time Robotic Applications Manecy Augustin 1,2 Marchand Nicolas 2 Viollet Stéphane 1 1 Biorobotic Department, Aix-Marseille Université/CNRS, Marseille, France 2 Control Systems Department, CNRS-University of Grenoble, France IEEE Conference on Robotics and Biomimetics (ROBIO), 5-10 December 2014, Bali, Indonesia 1/15

2 Outline 1 Introduction What do a classical robotic application need? 2 ToolBox Overview Requirements Appearance & interface Architecture 3 Examples General use Aerial robotics 4 Conclusion Functionality Future work 2/15

3 What do a classical robotic application need? Classical architecture Objectives: Simplify access to I/Os, A unique simulation and programming environment, 3/15

4 What do a classical robotic application need? Real-Time requirements and Task priorities Hierarchical tasks priorities, Preemption mechanism, Accurate timing, 4/15

5 Requirements Requirement and installation HOST: MATLAB/Simulink >2011b + Embedded Coder + VS Express Optional: A real-time Simulink Target (Real-Time Windows Target of Mathworks, Quarc of Quanser, etc.) COM (Computer On Module): Linux (recommended: >3.5.0) + Patch PREEMPT-RT A gcc compiler + standard C libraries and headers, Gumstix Overo Linux Images, Flash instructions, Communication instructions, 5/15 Other COMs Prepare_your_COM.pdf Working with Yocto: Prepare_your_COM.pdf Github

6 Appearance & interface A simple Simulink Library The COM library 6/15

7 Appearance & interface A simple Simulink Library The HOST library 7/15

8 Introduction ToolBox Overview Examples Appearance & interface Generation workflow HOST COMPUTER COM Model HOST Model Real-Time Tuning & Monitoring SIMULINK SIMULINK Library Library Embedded Coder TM Coder C-Code Generation Encapsulation for Real-Time execution FTP server Wifi COM Real-Time Application Embedded COM Model SIMULINK Application Application C-Code compilation gcc Linux Kernel I/Os Image 8/15 Conclusion

9 Introduction ToolBox Overview Examples Conclusion Architecture applications architecture Gumstix COM Ground Station Linux Commands Embedded Linux Console Application Task monitoring SSH SSH Serial SPI I2C ADC GPIO High level SetPoints, parameters Real-Time Application: Embedded COM Model SIMULINK Application Application Quarc Real-Time Windows Target Estimates, UDP control inputs... UDP Serial Sensors values Set Points High level SetPoints Parameters Monitoring Serial Control inputs COM side Host side Linux Program, Real-Time Simulink program, Multi-rate application (multi-thread), Monitoring, High-Level Setpoints, Console application, Real-Time execution, 9/15

10 Introduction ToolBox Overview Examples Conclusion Architecture applications architecture Gumstix COM Ground Station Linux Commands Embedded Linux Console Application Task monitoring SSH SSH Serial SPI I2C ADC GPIO High level SetPoints, parameters Real-Time Application: Embedded COM Model SIMULINK Application Application Quarc Real-Time Windows Target Estimates, UDP control inputs... UDP Serial Sensors values Set Points High level SetPoints Parameters Monitoring Serial Control inputs COM side Host side Linux Program, Real-Time Simulink program, Multi-rate application (multi-thread), Monitoring, High-Level Setpoints, Console application, Real-Time execution, 9/15

11 Introduction ToolBox Overview Examples Conclusion Architecture applications architecture Gumstix COM Ground Station Linux Commands Embedded Linux Console Application Task monitoring SSH SSH Serial SPI I2C ADC GPIO High level SetPoints, parameters Real-Time Application: Embedded COM Model SIMULINK Application Application Quarc Real-Time Windows Target Estimates, UDP control inputs... UDP Serial Sensors values Set Points High level SetPoints Parameters Monitoring Serial Control inputs COM side Host side Linux Program, Real-Time Simulink program, Multi-rate application (multi-thread), Monitoring, High-Level Setpoints, Console application, Real-Time execution, 9/15

12 Architecture Debugging tools Assistant tools Mis-configuration, Incompatible block use, Inline debugging tools Verbose I/O mode, I/O errors, Execution time of each program steps (Inputs, Outputs, tasks, etc.) 10/15

13 Architecture Debugging tools Assistant tools Mis-configuration, Incompatible block use, Inline debugging tools Verbose I/O mode, I/O errors, Execution time of each program steps (Inputs, Outputs, tasks, etc.) 10/15

14 General use Multi-rate application A 4 rate application: 6000 a) b) UDP at 1kHz, Serial at 500Hz, PWM at 333Hz, SPI and I2C at 200Hz, /15

15 Aerial robotics X4-MaG quadrotor Run exclusively Programs! 10 cm Gumstix COM 12/15

16 Functionality Main features: Automatic generation of multi-rate real-time application, Real-time monitoring, logging and parameter tuning, Several verbose and debugging tools, CPU load and overruns monitoring, Different timing mode (timer or interruption) Supported I/O: UDP ( and Ethernet), Serial (UART), I2C (master only), SPI (master only), File logging, Gumstix Overo specific I/O: 4x PWM up to 13MHz, GPIO (work in progress), 7x ADC (work in progress), 4x input-capture (work in progress), 13/15

17 Future work Evolution and customization Migration to Xenomai (Hard Real-Time Linux): More than 10x lower latency System Latency min [µs] avg [µs] max [µs] STD [µs] PREEMPT-RT XENOMAI Writing Real-Time driver (RTDM) Asynchronous mode to save CPU An "add-on" of the PREEMPT-RT image inherit all the functionality, Transparent for the user, Yocto: an independent layer easy to add to a custom 14/15 distribution (i.e., other COM)

18 Introduction ToolBox Overview Examples Conclusion Future work Useful information Documentations Download Gumstix COM 10 cm Documentation & assembly instructions Download /15