Introduction RT-MaG ToolBox Overview Examples Conclusion

RT-MaG: an open-source SIMULINKToolbox for Linux-Based Real-Time Robotic

Applications

Manecy Augustin1,2 Marchand Nicolas2

Viollet Stéphane1

1Biorobotic Department, Aix-Marseille Université/CNRS, Marseille, France2Control Systems Department, CNRS-University of Grenoble, France

IEEE Conference on Robotics and Biomimetics (ROBIO),5-10 December 2014, Bali, Indonesia

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Outline

1 IntroductionWhat do a classical robotic application need?

2 RT-MaG ToolBox OverviewRequirementsAppearance & interfaceArchitecture

3 ExamplesGeneral useAerial robotics

4 ConclusionFunctionalityFuture work

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Introduction RT-MaG ToolBox Overview Examples Conclusion

What do a classical robotic application need?

Classical architecture

Objectives:

Simplify access to I/Os,A unique simulation and programming environment,3/15

Introduction RT-MaG ToolBox Overview Examples Conclusion

What do a classical robotic application need?

Real-Time requirements and Task priorities

Hierarchical tasks’ priorities,Preemption mechanism,Accurate timing,

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Requirements

Requirement and installation

HOST:MATLAB/Simulink >2011b + Embedded Coder + VS ExpressOptional: A real-Time Simulink Target (Real-Time Windows Targetof Mathworks, Quarc of Quanser, etc.)

⇒ http://www.gipsa-lab.fr/projet/RT-MaG/RT-MaG_Download.php

COM (Computer On Module):Linux (recommended: >3.5.0) + Patch PREEMPT-RTA gcc compiler + standard C libraries and headers,

Gumstix Overo

Linux Images,

Flash instructions,

Communication instructions,

Other COMs

Prepare_your_COM.pdf

Working with Yocto:

Prepare_your_COM.pdfGithub

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Appearance & interface

A simple Simulink Library

The COM library

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Appearance & interface

A simple Simulink Library

The HOST library

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Appearance & interface

Generation workflow

Wifi

EmbeddedCoder

RT-MaGCoderRT-MaGCoder

RT-MaGImageRT-MaGImage

RT-MaGLibraryRT-MaGLibrary

TM

RT-MaGApplicationRT-MaGApplication

SIMULINK ®

EmbeddedCOM Model

C-CodeGeneration

Encapsulationfor Real-Time execution

HOST Model COM Model

Real-Time

Tuning&Monitoring

C-Codecompilation

gcc

FTP server

Linux Kernel

I/Os

COM

HOST COMPUTER

Real-Time Application

SIMULINK ® SIMULINK ®

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Architecture

RT-MaG applications’ architecture

Embedded Linux 3.5.0

Sensors values

Control inputs

Serial

Real-Time Application:

Monitoring

Set Points

Quarc Real-Time Windows Target

High level SetPointsParameters

Console Application

root@gumstix:~$

WIFI

Estimates, control inputs...

High levelSetPoints,parameters

LinuxCommands

Task monitoring

Serial

SPI

I2C

ADC

GPIO

WIFI

SSH

UDP

WIFI

WIFI

SSH

UDP

Serial

Gumstix COM Ground Station

RT-MaGApplicationRT-MaGApplication

SIMULINK ®

EmbeddedCOM Model

COM side

Linux Program,

Multi-rate application (multi-thread),

Real-Time execution,

Host side

Real-Time Simulink program,

Monitoring, High-Level Setpoints,

Console application,9/15

Introduction RT-MaG ToolBox Overview Examples Conclusion

Architecture

RT-MaG applications’ architecture

Embedded Linux 3.5.0

Sensors values

Control inputs

Serial

Real-Time Application:

Monitoring

Set Points

Quarc Real-Time Windows Target

High level SetPointsParameters

Console Application

root@gumstix:~$

WIFI

Estimates, control inputs...

High levelSetPoints,parameters

LinuxCommands

Task monitoring

Serial

SPI

I2C

ADC

GPIO

WIFI

SSH

UDP

WIFI

WIFI

SSH

UDP

Serial

Gumstix COM Ground Station

RT-MaGApplicationRT-MaGApplication

SIMULINK ®

EmbeddedCOM Model

COM side

Linux Program,

Multi-rate application (multi-thread),

Real-Time execution,

Host side

Real-Time Simulink program,

Monitoring, High-Level Setpoints,

Console application,9/15

Introduction RT-MaG ToolBox Overview Examples Conclusion

Architecture

RT-MaG applications’ architecture

Embedded Linux 3.5.0

Sensors values

Control inputs

Serial

Real-Time Application:

Monitoring

Set Points

Quarc Real-Time Windows Target

High level SetPointsParameters

Console Application

root@gumstix:~$

WIFI

Estimates, control inputs...

High levelSetPoints,parameters

LinuxCommands

Task monitoring

Serial

SPI

I2C

ADC

GPIO

WIFI

SSH

UDP

WIFI

WIFI

SSH

UDP

Serial

Gumstix COM Ground Station

RT-MaGApplicationRT-MaGApplication

SIMULINK ®

EmbeddedCOM Model

COM side

Linux Program,

Multi-rate application (multi-thread),

Real-Time execution,

Host side

Real-Time Simulink program,

Monitoring, High-Level Setpoints,

Console application,9/15

Introduction RT-MaG ToolBox Overview Examples Conclusion

Architecture

Debugging tools

Assistant toolsMis-configuration,

Incompatible block use,

Inline debugging toolsVerbose I/O mode,

I/O errors,

Execution time of eachprogram steps (Inputs,Outputs, tasks, etc.)

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Architecture

Debugging tools

Assistant toolsMis-configuration,

Incompatible block use,

Inline debugging toolsVerbose I/O mode,

I/O errors,

Execution time of eachprogram steps (Inputs,Outputs, tasks, etc.)

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Introduction RT-MaG ToolBox Overview Examples Conclusion

General use

Multi-rate application

A 4 rate application:

0 50 100 150 200 250 3000

1000

2000

3000

4000

5000

6000

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 100000

5

10

15

20

25

30

a)

b)

UDP at 1kHz,Serial at 500Hz,PWM at 333Hz,SPI and I2C at200Hz,

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Aerial robotics

X4-MaG quadrotor

Run exclusively RT-MaG Programs!

10 cm

http://www.gipsa-lab.fr/projet/RT-MaG/

Gumstix COM

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Introduction RT-MaG ToolBox Overview Examples Conclusion

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 (WIFI 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),

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Introduction RT-MaG ToolBox Overview Examples Conclusion

Future work

Evolution and customization

Migration to Xenomai (Hard Real-Time Linux):

⇒ More than 10x lower latency

SystemLatency

min [µs] avg [µs] max[µs]

STD[µs]

PREEMPT-RT 33 - 435 131XENOMAI 9 11 26 1.6

Writing Real-Time driver (RTDM)⇒ Asynchronous mode to save CPU

An "add-on" of the RT-MaG PREEMPT-RT imageinherit all the RT-MaG functionality,Transparent for the user,Yocto: an independent layer⇒ easy to add to a custom distribution (i.e., other COM)14/15

Introduction RT-MaG ToolBox Overview Examples Conclusion

Future work

Useful information

http://www.gipsa-lab.fr/projet/RT-MaG/RT-MaG_ToolBox.php

DocumentationsDownload

http://www.gipsa-lab.fr/projet/RT-MaG/X4-MaG.php

Documentation & assembly instructions

Download

10 cm

http://www.gipsa-lab.fr/projet/RT-MaG/

Gumstix COM

https://github.com/augustinmanecy/meta-rt-mag-overohttps://github.com/augustinmanecy/meta-xenomai

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