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