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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_ETC_ROMFS=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_TLS_NCLEANUP=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="nsh_main"</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> main |
| </pre></div> |
| </div> |
| </section> |
| </section> |
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