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RE:Lab Demonstrator Progress Report

RE:Lab Demonstrator Progress Report. Lorenzo Fantesini, Riccardo Rocchi l.fantesini@re-lab.it r.rocchi@re-lab.it. Demonstrator Overview. Bucket: off-highway machine. Hardware Overview. EXM32 Board Acquired. Main Characteristics : Freescale IMX-35 ARM CPU (533Mhz);

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RE:Lab Demonstrator Progress Report

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  1. RE:Lab Demonstrator Progress Report Lorenzo Fantesini, Riccardo Rocchi l.fantesini@re-lab.it r.rocchi@re-lab.it

  2. Demonstrator Overview Bucket: off-highway machine

  3. Hardware Overview EXM32 Board Acquired MainCharacteristics: • Freescale IMX-35 ARM CPU (533Mhz); • LCD controller with MPEG accelerator; • 256MB RAM DDR2; • 64MB NOR Flash; • 4 GB NAND Flash; • Ethernet 10/100Mbps; • SD Compact flash Card interface; • AC97 integrated audio; • USB 2.0; • CAN 2.0B; • VGA; • Linux supported.

  4. EXM32 Board Maininterconnections: • 1xEthernet 10/100 (RJ-45) • 2xUSB 2.0 Hi-Speed • 2xCAN 2.0B (10 pin) • 2xRS232 (9 pin) • 1xCompact Flash SD • 1xVGA CRT • 1xLCD TTL (31 pin) • AUDIO RCA (In-Out)

  5. Software Overview • Software iscompoundof 2 parts: • CompressedMonolithicBinaryKernel (Linux GPL based); • Image File System withitsown OS, drivers, modules, libraries, applications, … • Linux Kernel 2.6.28 > (OptimizedbyFreescalefor ARM Architecture) • FreescaleImage File System isavailable in 3 choices: • NFS: tcp-ip loaded from Host-Pc directly; • SQUASHFS: read only compressed FS flashed onboard; • Journal File System: JFFS2 (onboardRead/Write FS). • Operative system: Busybox (Rev. 1.15 >): bash/ash full compatible • Peripheral drivers loaded at kernel stage (insmod, modprobe, mknod, etc…); • Low-level graphic threatment applications available (fbset, …).

  6. Now Ready • Possibilityofcompiling a customizedbinarykernelfrom source code, optimizing, speed, reducingmemoryusage and adding extra featuresupports (MPEG4 filter driver supports, etc); • Booting the system from NFS externalhostpc (makingapplication upload on machinefaster and easier); • Cross-compilation (i686 toarm) ofsmall and middle c/c++ graphicapplicationsrunning in background from console terminal (vga initializationparameters, sshaccess, and manyothersavailable on Freescale full packet GPL source code).

  7. Further Probes • Bootingfrominternal NAND flash (SQUASHFS or smarter JFFS2 file system) writingdirectly full image on boardmakingitportable; • Initializinganexternal LCD 8” panelwriting on frame-buffer directly (low level) through the VGA port at 640x480x32; • Creationof a tiny web interface; • CAN interface support; • Advanceddevelopmentof full graphicapplications…

  8. Simulink Model Status The development of the demonstrator is currently in progress: • Requirements updated in deliverable 1.1b: • Stateflow Model has been made compliant with new requirements; • ISOBUS stack is under development as C code library; • Some bugs have been fixed; • Expected functionalities not fully provided • Model currently works in open loop mode (no feedback taken into account) PID is under development and will be finalized after the integration of electromagnets and iMX35 board. • Only one of the joystick axes have been considered; Second axle will be integrated after the development of the feedback loop.

  9. Simulink Model Overview

  10. Joystick Input • Simulation of Joystick Input according to deliverable 1.1b using: • USB joystick; • RE:Lab CAN Blocks and Vector CANOE RE:Lab CAN Blocks

  11. Logic Sub-Modules JOYSTICK MANAGEMENT RAMP MODULE CURRENT MODULE PID MODULE Developed Partiallydeveloped PROPRIETARY GRAPHIC MODULE EMERGENCY MODULE EEPROM MODULE Notdeveloped

  12. Graphic Development • Proprietary graphic: completed • Graphic already developed • Altia Model already developed • Altia Model Integrated in Simulink Model • ISOBUS graphic: to be developed

  13. Simulink Model – Simulation/1

  14. Simulink Model – Simulation/2

  15. RE:Lab Demonstrator Progress Report Lorenzo Fantesini, Riccardo Rocchi l.fantesini@re-lab.it r.rocchi@re-lab.it

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