Peter Wurmsdobler wrote:
> For a concrete realisation with RTL, some questions:
>
> In Simulink DAQ boards are represented by nice, configurable
> symbols. The respective object is linked to the controller
> later. Moreover, data can be traced (in the DOS version)
> to a file, how ever this works. What would be the interface
> to the DAQ RT-driver ? Probably an interface to COMEDI with
> specific calls from the MATLAB generated controller?
Simulink has this "External mode" which makes possible to tune
parameters, get signals out... over TCP/IP connection, and I hope (I am
nearly sure) it is customizable. So some non-realtime TCP/IP daemon
would communicate with Simulink using the required protocol, and pass
the commands to start/stop execution, set sampling frequency & collect
signals from RT Linux module, probably via RT_FIFOs or mbuff device.
Concerning specific hardware, the drivers would certainly have to be
hand-coded, but yes, some integration/modification for use in Simulink
should be feasible.
>
> What should happen when the controller is running? Where are
> data traced to and how can a controller be modified ?
> In Simulink there are either Plots or Scopes for tracing
> (and files, or directly into the MATLAB workspace ).
The RT Linux non-realtime interfacing capabilities (RT_FIFOs...) whould
be quite handy here. If the above mentioned interface (TCP/IP daemon)
would work according to Simulink protocol, it should be possible to
collect & observe the data in Simulink environment itself, be it on any
machine/platform you want, due to TCP/IP usage.
The problem is to make this daemon understand the Simulink's unique
protocol...
> how can a controller be modified ?
Well, the whole idea is to use Simulink/Matlab scheme as a source for
building a RT Linux module. But of course, any structural controller
modification (not the parameter tuning) would require to re-compile the
whole thing & to re-insert a module.
Probably it does not have to be just one module?!
Please correct me if I am wrong!
Maybe it would be most appropriate to use the main module for comm &
interfaceing with Simulink, one module for input device (the input
driver), one for output and one for controller's math computations (the
controller). Of course, the latter is "THE PROBLEM" since it must be
generated from Simulink...
> To shm as for the MATLAB workspace, or to fifos ?
I can't get your point here. Can you rephrase that?
Regards,
Ales
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