Etherlab®/RTW
EtherLab®/RTW is a system to create controllers using EtherCAT® hardware, that run with the EtherLab® EtherCAT® master inside the Linux kernel. The user is able to create models using the MATLAB/Simulink® library etherlab_lib, that are compiled to a loadable Linux kernel module by traversing Realtime Workshop and EtherLab®/RTW.
A blockset was created for the real time connection of EtherCAT® components in MATLAB/Simulink®. EtherCAT slaves can be selected from the etherlab_lib in MATLAB/Simulink/RTW® and directly included into the model. After that, the model is translated to C code and compiled to a loadable Linux kernel module.
The EtherLab®/RTW package can be subdivided into the components listed below:
- The etherlab_lib for MATLAB/Simulink®. It contains all necessary blocks for the creation of models with EtherCAT® slaves.
- The support code, that compiles a Linux kernel module of the output of Realtime Workshop. This happens in background and is not visible to the user.
- The kernel module rt_kernel, that is responsible for the real time execution of the created models. On loading, the modules register at the rt_kernel.
- The EtherLab® "Buddy Process", that acts as a counterpart to the rt_kernel in user space and is responsible for providing real time data in user space.
Downloads
| Release | Datum |
|---|---|
Version 1.1.1 (current)
|
2007-09-17 |
Version 1.0
|
2006-11-08 |
