General Information
The HART (Hardware Access in Real-Time) Toolbox can be used to generate Scicos-blocks for hardware that have a C/C++ interface. The blocks can be used under Linux for soft and hard real time tasks (RTAI). Blocks are provided for DAQ (COMEDI)
Features
- can easily added to Scilab 4.1.2, Scicoslab 4.4 or Scilab 5.5.1 !
- At the moment RTAI Codegeneration works for Scilab 4.1.2, scicoslab 4.4 and Scilab 5.5.1!
- RT_PREEMPT Codegeneration works for Scilab 4.1.2, scicoslab 4.4 and Scilab 5.5.1!
- module based structure
- the following modules are avaible: basis-module, comedi-module
- the same code can be used for soft real time (scicos/xcos simulation) or hard real time (RTAI)
- builder.sce / loader.sce based
- a new soft real time block improves the real time scaling for scicos
- Not only useful for hardware, just use the toolbox for any development of new Scicos-Blocks, which can be easy add to scicos
RTAI
Installation manual is updated for the kernel 3.8.13 for ubuntu 12.04/14.04 with and without comedi support!
Several bugs within the manual are corrected now!
- Installation for Ubuntu 14.04 32bit with comedi
- Installation for Ubuntu 14.04 64 bit without comedi
- Installation for Ubuntu 12.04 without comedi
- Installation for Ubuntu 12.04 with comedi
It is important to add -o to your rtai executable in order get a good realtime! The default setting uses the periodic mode. The hard timer will run in oneshot mode when using the "-o" options, which works better for same systems and slow sampling rates (<10kHz).
Download
Installation
Unpack the archive file and generate a link to the contrib dir of scilab:
tar xvzf hart_0.4.6.tar.gz
cd {...}/scilab-{...}/contrib
ln -s {...}/hart_0.4.6 .
(svn -version)
The trunk version works with scilab-5.5.0, but is actually in a beta state and there may be bugs.svn co svn://svn.code.sf.net/p/hart/code/trunk hartCompile the toolbox: Warning (only important if you are using RTAI): sudo make will not install the RTAI module! Either be a normal user and install HART or change to root (using sudo su) and then do make.
cd {...}/scilab-{...}/contrib
ln -s {...}/hart
cd hart_...
Edit the Makefile and change "SCILAB = scilab", if needed.
make
Now the hart toolbox can be loaded by clicking on the menu entry "toolboxes" / "hart_0.4.6" in scilab.
If RTAI is installed on the PC, xcos-Diagrams can be compiled to standalone realtime programs. Take a look at the RTAI-sites.