Scilab/Scicos Code Generator for Xenomai + CanFestival - Eu.com
Scilab/Scicos Code Generator for Xenomai + CanFestival - Eu.com
Scilab/Scicos Code Generator for Xenomai + CanFestival - Eu.com
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CiA SeminarMilano, October 7 th 2008<strong>Scilab</strong>/<strong>Scicos</strong><strong>Code</strong> <strong>Generator</strong> <strong>for</strong><strong>Xenomai</strong> + <strong>CanFestival</strong>www.evidence.eu.<strong>com</strong>
About <strong>Scilab</strong>/<strong>Scicos</strong>•<strong>Scilab</strong>:•The Open Source plat<strong>for</strong>m <strong>for</strong> numerical <strong>com</strong>putation•Site: http://www.scilab.org•<strong>Scicos</strong>:•OpenSource Block diagram modeler/simulator•Simulation of the dynamics of hybrid systems•Automatic code generation•Site: http://www.scicos.orgwww.evidence.eu.<strong>com</strong>
Target configuration•Automata A1:•Industrial PC (PC104) with Celeron 400 MHz•SJA1000 CANBus controller•2 Ethernet interfaces•Site: http://www.automataweb.<strong>com</strong>•WAGO 752•I/O Module with CANOpen support•Site: http://www.wago.<strong>com</strong>www.evidence.eu.<strong>com</strong>
How it worksHost PCC <strong>Code</strong><strong>for</strong><strong>Xenomai</strong> +CanfestivalTargetDigital Input Digital Output16 16WAGO Digital In/OutWAGOInputWAGOOutputUDPInputUDPOutputgccCAN BusBinaryPC 104Linux+<strong>Xenomai</strong>+Canfestivalwww.evidence.eu.<strong>com</strong>
Simple exampleUDPCANBus•Target and PC connected through Ethernet•The target:•Runs Linux+<strong>Xenomai</strong>+Canfestival•Digital inputs connected to digital outputs•Runs the code generated by <strong>Scilab</strong>/<strong>Scicos</strong>, that sendsdigital inputs through Ethernet•The PC:•Runs <strong>Scilab</strong>/<strong>Scicos</strong>, that reads data from Ethernet andshows via scopewww.evidence.eu.<strong>com</strong>
Simple example: the target•The target runs the code generated starting from thefollowing diagram:www.evidence.eu.<strong>com</strong>
Simple example: the PC•The PC runs the following diagram using<strong>Scilab</strong>/<strong>Scicos</strong>:www.evidence.eu.<strong>com</strong>
Simple example: data•This is what the PC receives:www.evidence.eu.<strong>com</strong>
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