RTAI Codegenration

For SCILAB 5.4.1!!!

1. Starting scilab 5.4.1

scilab

2. Loading HART-Toolbox

3. Starting xcos

xcos

4. Adding blocks to the xcos diagramm

• Open the sources palette
• Select the activation clock and add it to the xcos-diagramm
• Open the HART RTAI palette
• Select the sin generator and add it to the xcos-diagramm
• Select the scope and add it to the xcos-diagramm

• Connect the sine output with the scope input
• Connect the output of the clock with the sine and the scope activation input
• Draw a rectangle over the sine generator and the scope block
• Select region to superblock

• Rename the superblock to demo by selecting the block and go to Format and edit

• Enter "demo" into Text settings

• Change the Period of the activation clock to 1 msec
• Save the diagram as demo1.cos
• Select Simulation and then Compile

• Go to the scilab console
• Start Code geneartion by entering RTCodeGen()
• Select Ok in the dialog window.

• If everthing works properly, the output in the scilab main window should be like this one:

• Scilab / xcos can be closed
• Open a terminal and go to the directory with the generated code
• Be shure, that all rtai modules are loaded properly
• start the program: ./demo -o
• the -o options enforces the oneshot mode, which works better for same systems and slow sampling rates (<10kHz).

• Start QRtailab
• Click on Target/Connect
• Clock on View/Scope
• Enable the scope by clicking on Show/Hide

• Stop the program by clicking on Target/Stop
• Close Qrtailab

Gratulation! You have generated your first real time program.