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  <section id="pysimcoder-integration-with-nuttx">
<span id="pysimcoder"></span><h1>pysimCoder integration with NuttX<a class="headerlink" href="#pysimcoder-integration-with-nuttx" title="Permalink to this heading"></a></h1>
<p><a class="reference external" href="https://github.com/robertobucher/pysimCoder">PysimCoder</a> is as an open source
Rapid Control Application Development Tool which is able to transfer block diagrams into C code.
Combined with NuttX, it can be used in real time control application and as an alternative to
expensive licensed programs and prototyping platforms. Example of <a class="reference external" href="https://www.youtube.com/watch?v=6HlGk3ecPNQ">DC motor control application</a> with PID controller and blocks for encoder,
PWM, GPIO and sending data over TCP to real time plotter can be seen on <a class="reference external" href="https://www.youtube.com/channel/UC0QciIlcUnjJkL5yJJBmluw">NuttX Channel</a>.</p>
<p>This documentation describes the steps that are needed to run application generated by pysimCoder
on NuttX and also keeps the track of peripherals that are supported by pysimCoder for NuttX RTOS.</p>
<section id="peripheral-support">
<h2>Peripheral Support<a class="headerlink" href="#peripheral-support" title="Permalink to this heading"></a></h2>
<p>The following list shows the peripherals and fuctionalities supported in pysimCoder for NuttX RTOS.</p>
<table class="docutils align-default">
<thead>
<tr class="row-odd"><th class="head"><p>Peripheral</p></th>
<th class="head"><p>Notes</p></th>
</tr>
</thead>
<tbody>
<tr class="row-even"><td><p>ADC</p></td>
<td></td>
</tr>
<tr class="row-odd"><td><p>CAN</p></td>
<td><p>Including SocketCAN</p></td>
</tr>
<tr class="row-even"><td><p>DAC</p></td>
<td></td>
</tr>
<tr class="row-odd"><td><p>ENC</p></td>
<td></td>
</tr>
<tr class="row-even"><td><p>GPIO</p></td>
<td></td>
</tr>
<tr class="row-odd"><td><p>PWM</p></td>
<td><p>Multichannel support</p></td>
</tr>
<tr class="row-even"><td><p>UART</p></td>
<td><p>Serial output</p></td>
</tr>
<tr class="row-odd"><td><p>Sensors</p></td>
<td><p>Basic support for DHTXX</p></td>
</tr>
<tr class="row-even"><td><p>TCP</p></td>
<td></td>
</tr>
<tr class="row-odd"><td><p>UDP</p></td>
<td></td>
</tr>
</tbody>
</table>
<p>Please note that the actual support for NuttX peripherals can be wider that what is mentioned here
in case this documentation was not updated when new fuctionalities were added to pysimCoder.</p>
</section>
<section id="nuttx-configuration">
<h2>NuttX Configuration<a class="headerlink" href="#nuttx-configuration" title="Permalink to this heading"></a></h2>
<p>Several configuration options are necessary to be set in order to successfully compile pysimCoder
with NuttX. The list is the following:</p>
<table class="docutils align-default">
<tbody>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_ARCH_RAMVECTORS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_FILE_APPS=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_BOARDCTL_APP_SYMTAB=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_LINELEN=64</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_BOARDCTL_OS_SYMTAB=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_READLINE=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_BUILTIN=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_ROMFSETC=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_ELF=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_PSEUDOTERM=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_FS_BINFS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_PTHREAD_CLEANUP_STACKSIZE=1</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_FS_PROCFS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_PTHREAD_MUTEX_TYPES=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_FS_PROCFS_REGISTER=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_PTHREAD_STACK_MIN=1024</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_FS_ROMFS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_LIBM=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_FS_TMPFS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_RR_INTERVAL=10</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_IDLETHREAD_STACKSIZE=2048</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SCHED_WAITPID=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_LIBC_EXECFUNCS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SERIAL_TERMIOS=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_LIBC_STRERROR=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYMTAB_ORDEREDBYNAME=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_MAX_TASKS=16</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_NSH=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_BUILTIN_APPS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_NSH_STACKSIZE=4096</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NSH_FILEIOSIZE=512</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_INIT_ENTRYPOINT=&quot;nsh_main&quot;</span></code></p></td>
</tr>
</tbody>
</table>
<p>Note that <code class="docutils literal notranslate"><span class="pre">CONFIG_LIBM=y</span></code> might not be required for toolchains that already include
standard math library. However it is recommended to add <code class="docutils literal notranslate"><span class="pre">CONFIG_LIBM=y</span></code> to ensure
math library is included. Subsequently <code class="docutils literal notranslate"><span class="pre">CONFIG_LIBC_FLOATINGPOINT=y</span></code> is needed if double values
are to be printed on terminal.</p>
<p>In case you want to use Network and blocks like TCP or UDP, following configuration
options are required:</p>
<table class="docutils align-default">
<tbody>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_ROUTE=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETDB_DNSCLIENT=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_SOLINGER=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETDEV_LATEINIT=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_STATISTICS=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETDEV_STATISTICS=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_TCP=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETINIT_DHCPC=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_TCPBACKLOG=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETINIT_NOMAC=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_TCP_KEEPALIVE=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETUTILS_FTPC=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_TCP_WRITE_BUFFERS=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETUTILS_TELNETD=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_UDP=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NETUTILS_TFTPC=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_DHCPC_RENEW=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_ARP_SEND=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_NTPC=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_BROADCAST=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_PING6=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_IPv6=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_PING=y</span></code></p></td>
</tr>
<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_LOOPBACK=y</span></code></p></td>
<td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_SYSTEM_TEE=y</span></code></p></td>
</tr>
<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">CONFIG_NET_PKT=y</span></code></p></td>
<td></td>
</tr>
</tbody>
</table>
<p>Board and application specific configuration like setting up peripherals or boot options might also be required,
please refer to board and platform documentation for those information. Once NuttX is configured it can be build
by simply running:</p>
<blockquote>
<div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make
</pre></div>
</div>
</div></blockquote>
<p>Then we need to export build NuttX which can be done by executing command</p>
<blockquote>
<div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make<span class="w"> </span><span class="nb">export</span>
</pre></div>
</div>
</div></blockquote>
<p>This creates a zip file nuttx-export-xx.x.x.zip where xx.x.x is the version of NuttX. This file then have to be
moved to pysimCoder directory pysimCoder/CodeGen/nuttx, unzip there and then renamed just to nuttx-export. Then
enter the pysimCoder/CodeGen/nuttx/device directory and execute</p>
<blockquote>
<div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make
</pre></div>
</div>
</div></blockquote>
<p>This compiles pysimCoder files that controls functions of separate blocks. PysimCoder can be either installed
on the system (please refer to the <a class="reference external" href="https://github.com/robertobucher/pysimCoder/blob/master/README.md">pysimCoder manual</a>)
or script pysim-run.sh can be used to run pysimCoder without the installation. This script can be found in pysimCoder
root directory and is run by executing command</p>
<blockquote>
<div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>./pysim-run.sh
</pre></div>
</div>
</div></blockquote>
<p>Please note that PYSUPSICTRL variable has to be set/exported in order to successfully compile NuttX application
designed with pysimCoder.</p>
</section>
<section id="using-pysimcoder-to-design-nuttx-application">
<h2>Using pysimCoder to design NuttX application<a class="headerlink" href="#using-pysimcoder-to-design-nuttx-application" title="Permalink to this heading"></a></h2>
<p>After running pysimCoder, separate blocks can be selected from the library menu on the left hand side. The menu contains
several libraries, NuttX specific blocks can be found in library “NuttX”. It is also possible to use blocks from other
libraries like “input”, “output”, “math” and so on. Several blocks can have specific parameter options and various number
of inputs/outputs. Double left click on the block openes parameter settings while single right click on the block leads
to number of inputs/outputs setup. The pysimCoder interface can be seen in the picture below.</p>
<figure class="align-center" id="id1">
<a class="reference internal image-reference" href="../_images/interface.png"><img alt="../_images/interface.png" src="../_images/interface.png" style="width: 100%;" /></a>
<figcaption>
<p><span class="caption-text">pysimCoder interface: library menu can be seen on the left hand side</span><a class="headerlink" href="#id1" title="Permalink to this image"></a></p>
</figcaption>
</figure>
<p>The NuttX template Makefile nuttx.tmf has to be selected in order to generate code for NuttX target.
This can be done in the top menu by clicking on Block settings icon which is highlighted in the red circle.</p>
<figure class="align-center" id="id2">
<a class="reference internal image-reference" href="../_images/menu.png"><img alt="../_images/menu.png" src="../_images/menu.png" style="width: 100%;" /></a>
<figcaption>
<p><span class="caption-text">pysimCoder menu: red block settings, green generate C-code</span><a class="headerlink" href="#id2" title="Permalink to this image"></a></p>
</figcaption>
</figure>
<p>Block settings option open the following window (showed in the picture below) where you can set template Makefile and
also Python skript with parameters for the controllers.</p>
<figure class="align-center" id="id3">
<a class="reference internal image-reference" href="../_images/template.png"><img alt="../_images/template.png" src="../_images/template.png" style="width: 100%;" /></a>
<figcaption>
<p><span class="caption-text">pysimCoder Block settings menu</span><a class="headerlink" href="#id3" title="Permalink to this image"></a></p>
</figcaption>
</figure>
<p>C code can be generated by selecting Generate C-code icon (highlighted in the green circle). Executable files are then
generated and can be flashed into the target. The flashing procedure can be target specific, please refer to platform´s
documentation. The generated application can be then run from NuttX command line by executing:</p>
<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>nsh&gt; main
</pre></div>
</div>
</section>
</section>


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