Getting Started With Matlab Simulink and Raspberry Pi

Getting Started with Matlab Simulink and Raspberry Pi Agus Kurniawan 1st Edition Edition,, 2013 ISBN: 978-1-300-95391-3 Copyright

@

 2013 Agus Kurniawan

Table of Contents

Preface 1. Introd Introduct uction ion to Raspb Raspberr erry y Pi 1.1 Raspberr Raspberry y Pi 1.2Getting Hardware Hardware 2. Matlab Matlab Simulink Simulink and Raspberr Raspberrv v Pi 2.1 Matlab 2.2 Installin Installin 2.3 Runnin Running g Raspb Raspberr erry y Pi 2.4 SSH 3. Helio World World - Matlab Matlab Simulink Simulink and Raspberry Raspberry Pi 3.1 Helio World  3.2 Creating Creating Raspberr Raspberrv v Pi Simuli Simulink  nk  3.2.1 3.2.1 Config Configurin uring g Raspberr Raspberry y Pi LED 3.2.2 Configuring Configuring Data Type Conversion 3.2.3 Configuring Configuring Sine Wave 3.3 Running Simulink  4. Simulin Simulink k with Raspberr Raspberry y Pi GPIO GPIO 4.1 GPIO 4.2 Preparation 4.3 Simulink with GPIO Write 4.3.1 Building Simulink Madel 4.3.2 4.3.2 Testinz Testinz 4.4 Simulink with GPIO Read  4.4.1 Creating Application for Arduino 4.4.2 Building Simulink Model 4.4.3 Testing 5. Simulink and Video Capture S.l S.l  Prcparation

5.2 Creating Creating Simulink  S.3Testing Contact

Preface

This book was written to help anyone wants to get started in Raspberry Pi and Matlab Simulink. It describes alI the basic elements of the Raspberry Pi and Matlab Simulink with step-by-step approach.

Agus Kurniawan Berlin, April 2013

I. Introduction to Raspberry Pi

1.1 Raspberry Pi The Raspberry

Pi is a small size computer

timedia or run an application.  berry Pi:

(85.60mm x 56mm x 21mm) with completed

This device is developed by the Raspberry

Pi Foundation

features so that you can play mulin UK. There ara two type of Rasp-

• Model A with 256 Mb RAM • Model B with 512 Mb RAM 111efollowing is technical specification • SoC Broadcom

Pi device:

BCM2835 (CPU, GPU, OSP, SORAM)

• CPU: 700 MHz ARMI176JZF-S • GPU: Broadcom

of Raspberry

core (ARMll

family)

VideoCore IV, OpenGL ES 2.0, 1080p30

  h.264/MPEG-4

• Memory (SORAM): 512 Megabytes (MiB) • Video outputs: Composite

RCA, HOMI

• Audio outputs: 3.5 mm jack, HOMI • Onboard

storage: SO, MMC, SOlO card slot

• 10/100 Ethernet RJ45 onboard network  • Storage via   SOl MMCI   SOlO card slot You can see Raspberry

Pi device with model B on the Figure below.

AVC high-profile

decoder 

SPBER Y PI M ODEL B R C A V ID E O

A U D IO

POWER ~

(source: http://www.raspberrypi.org/wp-content/uploads/20 For further information,

11/07 /RaspiModelB. png)

you can visit on Raspberry Pi, http://www.raspberrypi.org.

1.2 Getting Hardware How to get Raspberry

Pi device?

Officially you can buy it from the official distributor  • RS, http://uk.rs-online.com/web/generalDisplay.html?id=raspberrypi • Element 14, http://www.element14.com/raspberrypi

You a1so buy Raspberry

Pi periphera1 devices for instance, keyboard, mouse, HDMI cab1e, SD card, USE hub, etc.

I tried to 100k for buying Raspberry

Pi device and found that there are another options to buy

• lhe Pi Hut,   http://thepihut.com • EXP- Tech, http://www.exp-tech.de/Mainboards/raspberry-pi.htm1 • Cooking -hack, http://w •••• w.cooking-hacks.com/index. • Amazon,   http://www.amazon.com • Ebay,  http://www.ebay.com

php/ shoplraspberry

-pi.htm1

2. Matlab Simulink and Raspberry Pi

This chapter explains how to work with MatIab Simulink and Raspberry

Pi Software.

2.1 Matlab You can work with MatIab Simulink with targeting on Raspberry Pi using MatIab lOBa or the Iatest version. You aIso can work with MatIab lOBa Student Version.

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2.2 Installing Raspberry Pi for Simulink Target Firstly, you prepare to provide SD card devices. I use SanDisk SDHC 4 GB.

Insert this card into your computer.

 Now you are ready to install Raspberry download Raspberry Pi paekage.

Pi and MatIab Simulink for Raspberry Pi. You also need internet eonneetion

Run your Matlab and then cliek Add-Ons.

to

You ean see the menu as below. S e a r ch

D o c l J m e n ta t io n

P

Get More Apps Get Apps from File Exchange Get Hardware 5upport Packages Find and install hardware support packages Value

M in

Purchase MathWorks Produds Visit Web Store

Seleet Get Hardware

Support

Packages.

Then you will obtain a dialog, ealled Support

Package Installer.

Support Package Insta ler  Install or update support package Where do you want to instaI!or update from?

@   Internet (recommended) O Folder 

c: V ' 1 A T L A B  \$upportPackages \f'.20   130¥:lownioads

Seleet Internet

(recommended).

After that, cliek Next button.

8rowse...

Support Package Installer 

~

1

Select a support

package

Select a support package to install or update.  Action

Installed Version

lates1 Version

Required Base Produd

Supported Host PI

1

D Reinstall

Arduino

2

D Install

BeagleBoard

3.0

' Simulink

Windows 132-bit),\

3

D Install

Gumstix Overo

1.0

Simulink

Windows (32-bit),\

4

D Install

LEGO MINDSTORMSNXT

3.0

 

Simulink

Windows (32-bit),\

5

D Install

PandaBoard

3,0

 

Simulink

--

'/

:-...

Support Package for 

6

.

3.0

 

 

Raspberry Pi

Install

'.

1.0

L -J

8

D Install

9

i

10 ~

 

 Imtall

Digilent Analog Discovery

 

 

.'

Simulink

V.lindows 132-bit),\ '" " " " "

"

Windows 132-bit),\ ,

,

5.0

Communicatíons System Toolbox

1.1.1

Data Acquisition Toolbox

r 

"

Windows (32-bitl,\

Windows 132-bit),\ Windows (32-bitl,\

Embedded Coder 

 Install

A.n310gDevices DSPs

2.0

Install

Green Htlls r.."ULTI

3.0

Embedded Coder 

Windows 132-bitl,\

Xilinx Zynq-7000

1.0

Embedded Coder 

Windows (32-bit),\

11  l~ Install Installation fulder:

~

USRP{RJR.adio

-

---

~oo

,

7

Windows 132-bit),\

Simulink

,I

",

~

3,0

.,

I C:Vv\ATLAB\5upportPackages~20 13a

-

I[

Wh y are some rows disabled?

I

Find more supported hardware

Check Raspberry

Pi and then click Next button.

You wil see a license agreement

as below.

 
I

  Next>

I[

Support Package.lnstaHer  M A T HW O RK S

I M PO R T AN T

A U X IL l A R Y

S O FT W A RE

U C EN S E A G R EE M EN T

N O T IC E

================

R EA O T HE TE RM S A N O C O No mO N S O F T H IS M A TH W O RK S A U XI LI AR Y S O FT W AR E L IC EN S E A G R EE M E NT ( TH E "A G R EE M E Ní ) C A R EF U LL Y B E FO R E C H E C KI N G 1 A C C EP r O R A C C ES S IN G M A T ER I AL S ( A S D Ef IN E D B E LO W ) .

T H ES E

T H IS A G R EE M E NT R E PR E SE N TS T H E EN T IR E A G R EE M EN T B E TW E E N V O U ( lH E L IC E N SE E" ) A N O T H E M A TH W O RK S , I NC . f MA T HW O R KS ") C O NC ER N IN G T H E S O FT W AR E A N D O O CU M EN T AT IO N M A D E A V A I L A B LE fO R A C C E S S H E R E U N O E R ( C O L LE C T IV E L Y , T H E ' M A T E RI A L S ") . B Y C H E CK I N G 1 A C C E PI AGREEMENT.

O R A C CE S SI N G T H ES E M A T E RI A LS

I

V O U A C C E PT T H E TE R M S O F T H I S

1. DEFINmONS.

1. 1. Licensee' means vou, whether an individual or an entity, to whom MathWorks grants the License, and who is responsible for complying with the contractual obligations of the License, and ensuring that anyone permitted access to the Materiais also complies with such obligations.

1.2. "Documentation" means the user guides, if any, accompanying delivery of the Materiais, as may be updated from time to time, as 'Neli as any reports or other reedback that MathWorks may, in its sole disaetion, provide to Licensee. Documentation may be delivered in printed and/or online forms, and in one or more languages.

~

I accept Next

Cheeked I accept. If done, cliek Next button.

>

II

  Cancel

I!

 

Help

Support Pack:ageInstaller  Third-party

software licenses

Vou have chosen to instaU Simulink Support Pack.age for Raspberry Pi Hardware. Software Vl'illbe installed from the following locations: S Dl

http://wVl'w.libsdl.org

Iicense

Wget for Windows

http://gnuwin32.sourceforge.net/pack.ages/wget.htm

Iicense

]-zip

http://www.]-zip.org

Iicense

This utility enables Vou to download and install the third party soft1Nare listed above. This list may contain open source software, induding software licensed under the terms of the General PubJiclicense. By dicking 1nstaU" on the next screen, vou will be downloadíng and instaJling the soft1l1'arelisted above. By dicking 'Cancel", you will not download or install the software.

<  Back

Click   Next   button.

II

  Next

>

II

  CanceJ

II

 

Help

Support Package Installer  Confirm installation

Vou have chosen to install Simulink Support Package for Raspberry Pi Hardware in C: V"'1ATLAB\SupportPackagesljUO   13a.

<   Back 

Click   InstaU   button. It will download

Raspberry

Pi package and then instal1 it.

If success, you wül obtain a dialog as beIow.

Install

 

Cancel

CI

Support Package Installer  IMtal/update complete Simulink Support Package for Raspberry

Pi Hardware

has been successfully

installed.

To ensure compatibility with Simulink, you may need to update the firmware for the selected support package hardware. Select -Continue- to update firmware now. Select -Close- to exit this utility.

I   Continue> Click    Continue   button.

I

~ - = = --J

 

Help

Update firmware

Choose a hard'Nare to start the firmware update processo Hardware:

J

aS):>~~~~Y~i .••.•

Help

Click   Next   buttol1.

Support Package Installer 

D

Select a board

The firmware update process for Raspberry Pi hardware consists of copying a Raspbian Wheezy Linux image onto a memory cardo We will guide you through this processo Select your board to get started: Board:

I

Model B

.1

<   Bacl<

<

Choose Raspberry Pi board. Then click   Next   button.

----_._----

II

 

Next

>

II

 

Cancel

>

Support   Package Installer  Get f irmware

Where do you want to get the firmware from?

@   Dovmload

O   Get from

from Internet

(recommended)

local folder 

Download folder:

IC ;\M Ã T L A B \S ~ ;;;;~ ~ tp ~ ~ ~ ~ ~ ~ 2 0 1 & ;\;j~ ;;~....~mI~l ~ dBrowse ~ \m •..

WARNING: Download size is approxímately Download may take several mínutes.

Choose Download

from Internet

If done, click Download

1GB.

(recommended).

button.

If download process is done, you will see a dialog as below.

D

Cl

Support Package   Installer  Configure board The board .\lilI be configured Board name:

with the foilowing name and IP   settings:

'raspberrypi-AKUR l . .  _ . .  _ _ .  _ . . _

. .. . . .. .  _ . . . . _ . . .  _ ._ . . . .

Configure IP settings for wired Ethernet

connection

] _

More info

IP  Assignment

•

Automatica!ly

get IP  aderess

ManuaDy enter  IP  address IP   Settings

IP address:   10.10.10.9 Network mask:

  255.255.255.0

Default gateway:  

10.10.10.1

<   Back

<

F ilI   hostname for Raspberry P io

Next>

 

Cancel

Support Package lnstaller  5elect a drive

Insert a 4 GB or larger SD memory card into a memory card reader on the host compu ter. Select the drive letter that corresponds Drive:

I D:

~!

I

to the memory card reader:

  RelTesh

If you do not find the memory card reader in the list of drives, reinsert the memory card fully and dick "RelTesh',

~ Slide lock switch up to unlocked position

<  Back

This dialog cal1 detect your SD cardo If 110t,select the drive of your SD cardo Then click Next button.

II

  Next

>

 

CancE

Support   Package Installer  Write firmware

Vou chose to write to drive D:. The write operation may take severa I minutes.

I,

(-

WARNING: Ali data in the memory card will be erased!

Cana

Click   Write   button to start to write Raspberry If done, you will see the dialog as below.

Pi image to SD cardo

Support Package Installer  Connect lhe Raspberry PíHardware Instructions 1. Remove the 50 memory eard ITom the h computer and insert into the Raspberry Pi I 2. Connect an Ethernet eable to the board the other end of the Ethernet eable to a nl directly to the host compu ter. 3. Connect a SV micro USS power supply te board. The power supply should be rated f  least 700 mA. NOTE: Vou may connect optional periphera as a monitor, keyboard, etc. at thís time.

Power cable

Ethernet connectíon

Make sure that the 'PWR' LED is solid red a the 'OK' LED indícating 50 card activíty starts blinking. Then, dick 'Next' to continu

<  Saci<

Plug out SD card from compu ter. Then, plug in it into Raspberry

 Now turn on your Raspberry

Pio Read section 2.3.

Pi

II

  Next

>

II

  CancE

You may configure After Raspberry

your Raspberry

Pi is running

Pi for instance

  SSH.

well, cIick Next button.

You can read it on section

2.4.

Then you will see a dialog as below.

Support Package Installer  Confirm board configuration

If you want to log in to the board in the future, the host name or IP address, user name, and password are displayed below. Vou may also type "raspberrypi" on the   M A T L A B  command window to obtain this information. Host name:

raspberrypi-AKUR 

User name:

pí

Password:

raspberry

NOTE:

1. YourRaspberry Pihardware willspeak its IP address through the analog audío connector when it boots. 2. Voucan configure your Raspberry Pi hardware to automatically send an e-mail when IP address changes. Click'Help' for detailed instructions.

<

Click Next button

Support Package lnstaller  Firmware update complete

You have successfu!ly updated ~

  YOUf   

nrmware.

Show support package examples

Click   Finish   button. You will see the new dialog as below.

Help

+

1

.

i

I

~

i ~

Simulink Support Package for Raspberry Pi Hardware   EXAMPLES SimulinkG) lets you design aM run models on Raspberry Pi@hardware. With this capability. you can assess algorithms in the classroom or lab as they execute in real-time on Raspberry Pi hardware with physicallJO.

I

anã optimize

Product page at mathw(

i i

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i

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:

!

Getting Started with Raspberry Pi Hardware

!

I!tl  M o d E

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~ 1

I

I t

 

~

F~~'J r:T w I

I~l .~

~~]

Communicating

I ~~'I • :

 Now you see Raspberry

~~

Pi on Simulink Library Browser.

with Raspberry Pi Hardware

I!tl  M o d E

.

liI fil'

Simulink   library Browser 

File

Edit

View

Help

I

»   Enter search term

 __ .J

Libraries

[ ;>

t>

I :t

t> c,

t>

Simulink  Commonly Used Blocks Continuous Discontinuities Discrete Logic and Bit Operations Lookup Tables Math Operations Model Verification Model-Wide Utilities Ports & Subsystems Signal Attributes Signal Routing Sinks Sources User-Defined Fundiom   Additional Math & Discrete Control System Toolbox DSP System Toolbox Data Acquisition Toolbox Instrument Control Toolbox Simulink 3D Animation Simulink Coder  Simulink Control Design Simulink Extras Simulink Su ort Packa e for Arduino Hardware

Showing:

Simulink Support Package for Raspberry

Library: Simulink Support Package for Raspberry

 ALSAAudio   Capture

J'.'

~ .rtr.

~

 

GPIO Read

 

LEO

"'.:.,c:: •••.

.rtr.

1 _ 

 

   

-rn _

G - t - ..: .~

"q r CO - 41 0

ALSAAudio PIsybaO:

 

='""':~

  UOPReoeive

V4L2Video CaptUTe

Pi Hardware

SOLVídeo Displsy

~

~:-'~I

 

~ ~

GPIOWrite

~

UDPSemi

• • ' 1.

 

IExsmples

  Text to ,',f~ I   eSpes.' Speech

Pi Hardware

2.3 Running Raspberry Pi  Now you are ready to boot your Raspberry cable. into Raspberry

Pio

Pi. Please plug in alI devices, for instance, mouse, keyboard,

power, and HDMI

~

Turn on the power for your Raspberry

Pi.

If success, you will get the first screen of Raspberry Pi as below

Try to configure your Raspberry

Pi, for instance, timezone and keyboard.

If done, push Finish menu. You will get Raspberry

Pi console shown in Figure below.

Enter username: pi and password: raspberry Then, you will get the Raspberry

terminal.

To work with Desktop GUI, you can type

I

startx

2.4 SSH You may need SSH to manage Raspberry $ sudo I

apt - get

i nst al l

Pi remotely. How to instam You can write his script

ssh

To start a service, try to write this script $   sudo I

/ et c/ i ni t . d/ ssh

st ar t

Sometimes, you want to mn SSH service every booting. Try to update update-rc.d

$   sudo I

updat e- r c. d

and then reboot your Raspberry

I $   sudo

file

ssh def aul t s

Pi

r eboot

For testing, I used PuTTY application Fill IP Address of Raspberry

in Windows 8 to remote Raspberry Pi via SSH.

Pi and then c1ick Open button.

P u T T Y   Configuration Categ.ory:

r

~ ..Session

L .. .  Logging

_

I

_

1

Basic options for your PuTT Y session

_

.

Specify the destination you want to connect to

~. Terrninal

!

  Keyboard

Host liame

(or  I P address)

! BeU

1192.168.1.61

L .. .  Features

Connection type:

a"Window

!. . . .Appearance

 j . • . •  Behaviour 

!

i

  Translation   Selection

L .. .  Colours Connection 8 ..

I   Data

!   Proxy

O Ra~

O Ielnet

~fo_rt

I~~

O RJog[n

@âSH

O SeDal

Load. save or delete a stored session Saved Sessions I~~;b~ ;;;;pi................

..1

Default Settings Mac Mini akurdb .doudapp .net raspbenypi

!   Telnet !   RJogin

ctl'

SSH

L . . .  Serial

Oose •••• 'indow on exit:

O A1ways

~out

O N-ever

_

@ Only on dean exit

If connected,

you will get a secuity alerto

PuTIY Security Alert The server's host key is not cached in the registry. Vou have no guarantee that the server is the computer you think it is. The server's rsa2 key fingerprint is: ssh-rsa 2048 cb:51:78:65:d6:98:82:be:dd:e9:3b:b6:05:e7:99:el Ifyou trust this host, hit Ves to add the key to PuTTY's cache and carry on connecting. Ifyou want to carry on connecting just once, without adding the key to the cache, hit No. Ifyou do not trust this host, hit Cancel to abandon the connection.

Click Yes button. Entry username

and password.

rf  success, you will get Raspberry

Pi console.

3. HelIo World - Matlab Simulink and Raspberry Pi

In this chapter we create as simple Matlab Simulink with Raspberry Pi.

3.1 HelIo World We are going to build a simple Matlab Simulink with Raspberry LED on Raspberry

Pi, called Hello World. In this scenario, we work with

Pi. Try to turn on and off from our model.

If you see Matlab Simulink Library on Raspberry

Pi library, you can sce

LED   library.

We will use this library on our mod-

cl. D

5imulink library Browser  Help

I   Enter

search term Library: Simulink Support Package for Raspberry

(>

5imulink  Commonly Used Blocks Continuous Discontinuities Discrete Logic and Bit Operations Lookup Tables Math Operations Model Verification Model- Nide Utilities Ports &   5ubsystems Signal Attributes 5ignal Routing Sinks Sources User-Defined Functions   Additional Math & Discrete Control System Toolbox DSP 5ystem Toolbox Data Acquisition Toolbox Instrument Control Toolbox 5imulink 3D Animation Simulink Coder  5imulink Control Design Simulink Extras 5imulink Su ort Packa e for Arduino Hardware

Showing:

Simulink Support Package for Raspberry

Pi Hardware

 ALSAAu
GPIO Read

 ALSAAudio Playbadt:

'"~''' G:J n r. C~

""-.'~ CD "@

LEO

-.

-"

~ ~

UDP Reoeive

V4L2Video

Capture

eSpes, Text t o Speech

GPIOWrite

••

.. - ..,~ '~ [!:J rn ••: c ••.

Pi Hardware

r::::::I

L:::-J

SOL Video Oisplay

UDP Seno

[Examples)

3.2 Creating Raspberry Pi Simulink  Now we are ready to build

a "helIo world" Matlab Simulink with Raspberry Pio FolIowalI steps.

Firstly run your Matlab 20Ba or the latest version. On Home, click  + New icon. Then you will obtain a menu as below.

PLOTS

HOME

APPS

-

Find Files

~

Compare

Import Data

Script

  Workspace

Ctrl-N  Agus

Example

~

Class

ij

System Object Figure Graphical User Interface Command Shortcut

SIMUlINK ~

Simulink Model

L ::I

Simulink Project

~ Documents

~ rv 1 0

Function

D

Save

}

Select   Simulink   Model. Then you obtain a Simulink dialog as below.

untitled

File

Edit

View

D isplay

D iagram

Simulation

A nalysis

Code

Tools

H elp N o rm a l

• •• .

Model BrO'Nser  untitled

«

Ready

100%

 Next step, we build a simulink model. On the Simulik Model dialog, click menu Tools -> Library Browser.

am

Simulation . . . .

Analysis

Code

Help Library Browser 

~ ~

Model Explorer  Run on Target Hardware

Then you wil! the list of Simulink library include Raspberry Pi library. Click Simulink

Support

Package for Raspberry

Pi Hardware,

then you wil! see all Raspberry Pi installed library.

File

Edit

View >

Help Enter search term Library: Simulink Support Package for Raspberry

c'

Simulink  Commonly Used Blocks Continuous Discontinuities Discrete Logic and Bit Operations Lookup Tables Math Operations Model Verification Model-Wide Utilities Ports & Subsystems Signal Attributes Signal Routing Sinks Sources User-Defined Functions Additional Math &  Discrete Control System Toolbox DSP System Toolbox Data Acquisition Toolbox Instrument Control Toolbox Simulink 3D Animation Simulink Coder  Simulink Control Design Simulink Extras Simulink Su ort Packa e for Arduino Hardware

 ALSAAudio

Pi Hardware

 ALSAAudio Playbact

Capture

GPIORead

GPIOWrite

SOL Vidao

LEO

Oisplay

UOP ReceivE-

~ ~

V4L2Video

I ~ : : - ; ~ ;I

CapturE-

UOP Send

  !ExampI6}

eSpeak Texl to Speec:h

For our scenario, helio world, we create a simulink as below.

Model Browser  t o a . .   helloworld

f R " ;iI

~

RASPBERRYPI

SineWsve

""1' .•••

fi:l1 ledO (Green)  _lIDo_lea_o

~

Data Type Coowrsion

LEO

L:

You need three libraries as follows • LED on Simulink Support Package for Raspberry Pi Hardware • Data Type Conversion • Sine Wave on Sources

After all items connected,

on Commonly

Used Blocks

we configure these.

3.2.1 Configuring Raspberry Pi LED To configure Raspberry

Pi LED, double-click

LED on modeI. lhen you obtain a dialog as below

Sink Block Parameters: lE D LEDWrite (mask) Turns an LEDon or off. Select the desired LEDfrom the drop-down menu. Do not use the same LEDin multi pie blocks within a model. Parameters Board:

1 .~ .~ .9.... .~~..... .I~ey~

LED:

IledO (Green)

 _ _

o_K__

[ . • .i

....... ....... ....... ....... ...•.. ....... ..... . . !

. •.

  View LED location ••......................•.........•.............

1 !

11

  Cancel

 

Select Board and LED. If finished, click OK button. You aIso can click View LED location

button to view LED position.

Apply

Model B Rev2 LED locations

File

O~

Edit

View

Insert

T 0015

D esktop

W indow

H elp

r-

3.2.2 Configuring Data Type Conversion Double click on Data Type Conversion so you obtain a dialog as below

Functíon Block Parameters: Data  Type  Conversíon Data Type Conversion Convert the input to the data type and scaling of the output. The conversion has two possible goals. One goal is to have the Real World values of the input and the output be equal. The other goal is to have the Stored Integer Values of the input and the output be equal. Overflows and quantization errors can prevent the goal from being fully achieved. Parameters Output minimum:

Output maximum:

[1[---------] Output data type:

I boolean

v

 I

i

»

O Lock output data type setting against changes by the fixed-point tools Input and output to have equal: ~I

World value (RWV._)

._ = :J

.

o :]

Integer rounding mode: ~o~_n_d

O   Saturate

on integer overflow

Sample time (-1 for inherited):

 __

 _ 1 1  

O_K

Cancel

I [_   Help

 

Apply

Due to Raspberry Pi LED input needs boolean data type, you must select boolean If done, c1ick OK button.

3.2.3 Configuring

Sine Wave

Double click Sine Wave, you will obtain a dialog as below.

on Output

data type.

Samples per period

=

  2"'pi I (Frequency '" Sample time)

Number of offset samples

=

  phase '" Samples per period I  (2"'pi)

Use the sample-based sine type if numerical problems due to running for large times (e.g. overflow in absolute time) occur. Parameters Sine type: Time (t): [U-;~.-;~I~ti~~--ti.~~;"-'._.'_

' -- .M . •_ . . - -- _

" ._

- - _ - - . . --

------'-~ J

- -. .. .. .. .. .. .. .. .. .. .. .• .• ••

 Amplitude:

Frequency (rad/sec):

~

Interpret veetor parameters as 1-0 OK

For testing, we use eonfigurations

Apply

as follows:

• Sine type: Time base • Time (t): Use simulation • Amplitude:

time

1

• Bias: O • Frequeney:

1

• Phase: O • Sample time: 30 • Cheeked lnterpret

veetor parameters

as l-D

lf done, click  OK  button.

3.3 Running Simulink Save your model, for instanee, helloworld. You test and validate your model. Make sure you scleet Normal.

Then, cliek Arrow, shown in Figure below.

helloworld nulation

C o de

T o o ls

H e lp

d

Test and Validate alidate

helloworld

If succe success, ss, you you don't don't see the the error error dialog dialogo o  Now you are ready to deploy to Raspberry

Pi, you you must must conf config igur ure. e. How? How? Click Click menu menu Tool Toolss -> Run on Target Target Hardwa Hardware re

To run run this this mode modell to Rasp Raspbe berr rry y to Run. Run.

 

--

~._._-_.~---_.

I T o o ls L ~ l p _ ...i~   Library Library •••

_ _ ._ -

Code >

F ? ':!\

Pi and run it.

.

,

Browser 

Model Explore Explorer  r 

~

---:

R un un o n T ar arg e t H ar ard wa wa re

~

Prepar Preparee to Run ... ... Instal Install/Up l/Updat datee

Support Support Package Package..

Update Update Firmwar Firmwaree ... ...

lhen lhen you you will will obta obtain in a dia dialo log g as belo below. w.

í S,~tt: I

i

 j   Th •• " ,." " 1 is " " I " " I   to um !

  So~r  OAU   ~'f>port

I

!

  Oí"9OCltiu H i ii f ~ i l I r l !

i "   S'mulat!Otl i

 Implemel\tiitioo

Mod.1 RvI•.,.ncinç

tJ1etll~ tJ1etll~

did"Ti did"Tilol lol:s' :s',, did'R.un did'R.un

Target M Ilrdware Ilrdware   RleCUoo

r"9"1 h . . - d v , , , , , , ,   [!Y'~rr'f ~,_.

Taln,et

ll:un on 1.1'9.1 1.1'9.1   Hmfw.t'l'

i

I

Select Select Raspb Raspberr erry y

Set ll1<>"Torgol ll1<>"Torgol

I'   y1ltIf   hilr""' hilr""'lt' l t' e 15 t\ót t\ót Ii:!tf!d Ii:!tf!d ¥llÍle ¥llÍle 'Th'get g et har
I Te ,l'\:!tall

! "   Optjmlratiol'l

""y   Lo,gd   h.,dw.'e.

Pi on on Target Target hardwa hardware. re.

Click OK button. button. After After that, that, you will see Raspb Raspberr erry y

Pi confi configu gurat ration ion..

" " " I h " " " , '   porilltlld"

tó  miOlâl   rou'   lorgol

optioos, optioos, íl'\:!tlll \ :!tlllll the IlIfget IlIfget   foI' VOUf hat'
1llrgetHMd"'M HMd"'Me'. e'. aro dld:'lnSli3~ lnSli3~ on   1llrget

 

5uwmt   radage",'.

" " " 4 • .•"

->  Prepare

úmfíguratíon T• • • .9 1 " 1

  Parametefs:

ootit1ed/Run ootit1ed/Run an l:'.artlwar~ l:'.artlwar~CtlnJigura CtlnJigura

f,AdiW)

r n . , d ' ' '1 1 I ~ " '"

D.t3 Op(,mllauon Diagntmits

5i9O   mo tonng tonng ond  pcn:m

H••dw••" Impl••••• Impl••••• nLll>On

O EM

MQdellt~lerenong " Sómu Run

Otl   '9tt

H

em.1 modq

Ovtrru Ovtrrunn d

'9ft

  Óftotrt

C [na

tu~

  l!àlOn

av.e'1\#l 1\#lde~et1 de~et1

Fill Fill Host Host name, name, User User name name and Passwor Passwordd for for you yourr Rasp Raspber berry ry Pi devi device. ce.  Note: You ean define hostname's

Raspberry Pi or its IP Address.

You You ean do eheek eheeked ed Enabl Enablee Exter ExternaI naI mode mode and and Enabl Enablee ove overr rrun un detee deteeti tion on.. If done done,, click click OK button. button.  Now baek to your Simulink. Change Normal to ExternaI, shown in Figure below. Simul Simulat atio ionn

Analy Analysi siss

Code

lools

Help

· ~ lG l~ S

~helloworld

~

~" =t RASPBERRYPI

SineWsw

"i,'t;'l

~

@

led{) (Gfeen) (Gfeen) boolean

LED

Data Data Type Type Conv Convers ers ian

To deplo deployy and run run on Raspber Raspberry ry Pi, Pi, click click menu menu Tool Toolss -> Run on Target Target Hardwar Hardwaree ->   Run Run .

Ilysis   Cede

 

Help ,

Library Library Brewser  Brewser  Medel Explerer  Explerer  Run on Target Target Hardwar Hardwaree

Ru n Options Options ... Install Install/Updat /Updatee

Support Support Paclcage Paclcage..

Update Update Firmwar Firmwaree ... ...

If proces processs is succ success ess,, you will will see the LED is blink blinked. ed.

You also also obtain obtain a consol consolee dialog dialog to show show that simula simulatio tion n

proces processs was dane. dane.

What's happened? Basically Matlab sent and deployed this program to Raspberry Pi and then executed it. You can check your Raspberry Pi using SSH. You wiII obtain our progran, helloworld, that has deployed.

pi @raspberrypi-AKUR: ~/helloworldJtt/MW

4. Simulink with Raspberry Pi GPIO

111ischapter explains how to program simulink using Raspberry

Pi GPIO

4.1 GPIO General Purpose

Input/Output

(GPIO) is a flexible software-controlled

digital signal. You can define input/output

Further information

about GPIO, you can read it on   http://en.wikipedia.org/wiki/GPIO.

Based on Raspberry

Pi specification,

easily.

you can see Raspberry Pi GPIO as below.

, ; / I

3.3 V

6V

12CO_SDA

5V

12CO_SCL

GND

GPI04

 

UARTO_TXD

GN D

 

UARTO~XD

GPIO 17

GPIO 18

PCM_DIN

GND

GPIO 22

GPIO 23

3.3 V

GPIO 24

SPlO_MOSI

GN D

SPlO_ ISO

GPIO 25  

SPlO_SCLK GN D

When I wrote this book, there are two Raspberry you know Raspberry

 

SPlO_CEO_N SPlO_CE1_N

Pi revision types, revision

1 and

Pi revision?

You can know what your Raspberry

Pi revision by typing this script on terminal.

I

cat   Iproc/cpuinfo

For instance, my Raspberry

has a response as below.

2. Basically, it's not big changes. How do

Ifyou can see, I have Revision ooof. It means my Raspberry Pi is model B with 512MB and revision 15. Here is a guideline: • Revision 0004, 0005, 006 ..000f is Raspberry Pi Model B revision 2 • Revision 0003 is Raspberry

Pi B Revision 1

• Revision 0002 is Raspberry

Pi B Revision 1

For input/output

GPIO programming,

+  ECNOOOl

I recommend

to use unused GPIO pins, for instance, pin 4,17, 18,22,23,24.

4.2 Preparation We hava two scenarios to explore Simulink Raspberry use 3 LED connected to Pi GPIO 4,17,18.

Pi with GPIO. The first scenario is to work with GPIO Write. We

The second scenario is to work with GPIO Read. Basically you can use digital sensor devices to connect Pi GPIO. If you use analog sensor devices, you should ADC or additional analog component ond scenario, I use Arduino to produce digital values for Pi GPIO inputs. YOll

  also need some cables (famale-male)

and a breadboard.

to convert to digital values. To simplify the sec-

Another option, you can buy Raspberry Pi GPIO kit, for instance, Adafruit Pi Cobbler Breakout Kit for Raspberry ther information about this product, you can read it on http://adafruit.com/products/914 .

4.3 Simulink with GPIO Write In this section, we're going to a simulink mo dei with Raspberry The following is a LED circuit which is connected

to GPIO.

Pi GPIO Write and LED.

Pi. Fur-

3300

LED

 Notes: • LED 1 connect to GPIO 4 • LED 2 connect to GPIO 17 • LED 3 connect to GPIO 18

This is my circuit for LED and Raspberry

Pi

 Now we start to build a sirnulink rnodel.

4.3.1 Building Simulink Model Run your Matlab and create a Sirnulink Model. Try to build a rnodel as shown in Figure below.

RASPBERRYPI

n n

boolesn + +

Sine W sve

GPI04

Data Type CooW1Sion

GPIO 4Wrile RASPBERRYPI Logicsl

n n

Operalof  Sccpe

GPIO 17

GPI017Wrile

RASPBERRYPI

n n Logícsl

GPIO 18

Opaator1

GPIO 18Wrile

 Notes: • GPIO Write on Simulink Support Package for Raspberry Pi Hardware • Data Type Conversion on Commonly Used Blocks • Scope on Commonly

Used Blocks

• Logical Operator on Logic and Bit Operations • Sine Wave on Sources

We use 3 GPIO Write. Configure

them for GPIO 4,17, and 18.

Sink Blocl< P

GPIO Write (mask) Sets the logical value of a GPIO pin configured as output. Select the GPIO number. Do not assign the same GPIO number to multiple blocks within a mode!. Parameters Board:

I B Rev2

GPIO number:

OK

For Sine Wave, you can configure it as below.

Source Blbck Paramete Number of offset samples

=

Phase '" Samples per period I (2"'pi)

'"

Use the sample-based sine type if numerical problems due to running for large times (e.g. overflow in absolute time) occur. Parameters 'Y . _ I

Sine type: [j_~~~~ased Time (t): [~se_~~m~ati~_~tim;

.

.

_

 Amplitude: 1

Bias:

Samples per period:

Number of offset samples:

Sample time:

~

Interpret vectar parameters as 1-0

<

Save this model, for instance, gpio_led.

4.3.2 Testing  Now you can run this model on Raspberry Pi device. Please read section 3.3 for deploying and running on Raspberry Pi device. If success, you will obtain a console dialogo Here is a sample output for console.

c:\Windows\SYSTEM32\cmd.exe

You also see the LEDs will turn on and off on a certain time.

.. "

. . '" ' . . . ..

4.4 Simulink with GPIO Read

The second scenarÍo we want to do is to read a GPIO input. In this illustration, we Arduino to generate digital outputs for  Raspberry Pi. I used Arduino Uno R3 for testing.

4.4.1 Creating Application for Arduino We use digital output 13 and 12 to produce digital values on Arduino. Open Arduino application and create a new application.

G F ile

i n t o ut 1 i nt out 2

13; 12;

Toid setup () {

i ni t l al i : e t he di gi t al pi nJ l ode( out 1, OUTPUT) ; pi nUode( out 2, OUTPUT) ; 1/ 

Joid 

pi n as

~l

out put .

loop () {

di gi t al ~Li t e( out 1, di gi t al ULi t e( out 2, de1ay( l OOO) ; di gi t al WLi t e( out 1, di gi t aHhi t . e( out 2, del ay( l OOO) ; di gi t a1ULi t e( out 1, di gi t a1~Li t e( out 2, de1ay( l OOO) ;

HI GH) ; HI GH) ; Ii   wa i

t

f OL a s e c on d

Ii   wa i

t

f OL a s e c on d

/ / wai t

f OL a s ec ond

HI GH) ; LOl J ) ; LO~) ;

HI GH) ;

<

Write this code into your Arduino editor.

>

i nt out l - 13; i nt out 2 12; voi d s et up( ) { 1,1 í ni t i al í z e pi nMode( out l , pi nMode( out 2, }

dl ' g l ' t c~.. L' Pl ' 11 ° l S an ou t _put, , OUTPUT) ; OUTPUT) ; ~ '- he

voi d l oop( ) { di gi t al Wr i t e( out l , di gi t al Wr i t e( out 2, del ay( 1000) ; di gi t al Wr i t e( out l , di gi t al Wr i t e( out 2, del ay( l OOO) ; di gi t al Wr í t e( out l , di gi t al Wr i t e( out 2, del ay( l OOO) ;

c .

HI GH) ; HI GH) ; II   wai

t

f or a second

HI GH) ; LOW) ; Ii

  wai t f or a second

LOW) ; HI GH) ; II

wai t

Save this code into a file, called arduino_digit. Do verify and upload this application to Arduino board. If done, your Arduino is be connected to Raspberry Pi.

 Note: • Arduino digital 13 is connected to Pi GPIO 17 • Arduino digital 12 is connected to Pi GPIO 18

f or a second

4.4.2 Building Simulink ModeI Run your Matlab and ereate a simulink model. Build the model as below.

El

.~

:.+ :

RASPBERRYPI

~""

n n

=t

GPIO 18

Scope

GPI018 Read

~

D RASPBERRYPI

n n

 

Sccpe1

GPIO 17 GPIO 17 Read

 Notes: • GPIO Read on Simulink Support Paekage for Raspberry Pi Hardware • Seope on Commonly Used Bloeks

Configure GPIO Read using GPIO 17 and 18. For Sample Time, you assign 0.1.

Source Block Parameters: GPIO 17 Read GPIO Read (mask) Reads the logical value of a GPIO pin configured as input. Select the GPIO number. Choose desired internai resistor  configuration. Do not assign the same GPIO number to multiple blocks within a model. Parameters Board:

I  Model B Rev2

GPIO number:

17

Sample Time:

0.1

Save this model, ealled gpio_sensor.

.••.

1

[Viewpin mapl

4.4.3 Testing  Now you can run it into Raspberry

Pi.

Try to open Scope library. You will see the response output as below.

Sc ope

You also obtain a console dialog for simulation

process notification.

5. Simulink and Video Capture

This chapter explains how to work with Video Capture using Raspberry

Pi and Matlab Simulink.

5.1 Preparation Matlab Simulink provides library, called V4L2 Video Capture, to capture live video. For Raspberry on toolbox.

RASPBERRYPI

Pi target, you can see it

Y

, .. . ,

(e).

Cb

c::.j

V 4L2 Video Capture

Mathworks has already testes some cameras as follows: • Logitech QuickCam

Pro 9000

• Logitech QuickCam

Pro 3000

• Logitech Webcam C600 • Logitech HD Webcam C310 For a list ofUVC

cameras supported

by Ubuntu and Raspberry Pi, you can visit  http://www.ideasonboard.org/uvc/

In this scenario, I used Microsoft LifeCam VX-700.

After plug-in, you can execute this command

to Raspberry

Pi console.

.

1

  1 S U S b

l s / dev/ vi deo*

If success, you will see your webcam usb. Míne ís Idev/videoO.  Now you are ready to buíld a simulínk.

5.2 Creating Simulink Let's buíld a símulínk. Run your Matlab and create a simulínk. In this scenarío, we use V4L2 Vídeo Capture and Display. If you have a Compute r Vísíon System Toolbox, you can use To Video Dísplay, http://www.mathworks.com/help/vision/ ref/tovideodisplay.html

, to show líve video.

1

 1

-

DisplsyR

RASPBERRYPI R 1 " . '. ,

eJ

'r-'i

G

Displsy G

B

V4l2VideoCaptLIe

 Notes: • V4L2 Vídeo Capture on Símulínk Support Package for Raspberry Pi Hardware • Display on Símulink->Sink 

Double clíck V4L2 Vídeo Capture. Then you obtaín a dialog, shown ín Fígure below.

Source Block Parameters: V4L2 Vídeo Capture V4L2 Video Capture (mask) (link) Captures video from a USBcamera using V4L2 driver framework. During simulation, the model outputs a moving colorbar image. While running on hardware, the block outputs vídeo from a USB camera. Set Image size parameter to the desired output size. Use Pixel format parameter to specify the format of the output vídeo stream. Parameters Device name:

I

1'[dev[videoo'l Image size: ~_2 Pixel format:

-:J :J

__ 0

~ I R_G_B

Sample time:

 _ _

 _1 1

O_K

  Cancel

II

 

Help

Change value on Device name, for instance, '/dev/videoO'. If done, click  OK  but1on. Save this simulink.

5.3 Testing  Now you can test it on Raspberry Pio Don't forget to change target hardware to Raspberry Pi.

J

 

Apply

For pixel format, change to RGB.

Configuration Parameters: videodemo/Run

on Hardware C onfi

Target hardware seleetion

Select: Solver  Data ImportjExport t >   Optimization I >   Diagnostics Hardware Implementation Model Referencing I > Simulation Target

Target hardware: ~~p~be_r_ry_p_i  _~~~

__

~

_

Signal monitoring and parameter tuning ~

Enable Externai mode

TCP/IP port (102.4-65535):

1772.5

Run on Target Hardware Overrun deteetion ~

Enable overrun deteetion

Board information Host name: User name:

Before running,

File

Edit

PassNord:

~ ~ _ ~ £ ~ ~ ~ : ~ _ = : - _~  _. _. ._~ _- . .- . .-.-. - - - -  _. . . - - - - - . - - - - - - - - - . - - - - : - = ~ = _

Build direetory:

[ 2 ~ ~ _ ~ _ ~ L e - ~ = = : _ - : _ : : ~ : : : : : : : = = ~ = = = : . : = : : _ ~ - : = = = = = - - = _ : ~  : =

change Normal to Externai.

View

Display

D ia gra m

S im ula tio n

A na ly sis i

IT :l

0~

~

.••.

s i @, ~IG)

i

Model Browser  videodemo

 Now click menu Tools ->   Run on Target Hardware ->   Run. If success, you will see RGB values on Display.

\

•.

Code

• I

Tools ~J

T

Help

  iiõ:õ--

 J

..•.

-, -vid-eo-de-m-o ----'--.-----.--------~------------------------------.

-.---.---------~-----

S ~videodemo

'~:

I

-~

riI

li<1i1

~

RASP8ERRYPI R ---,

( 0 )

t.........  ,

G B

6411

7211

72

7 0 I' 6 4 11 731!

11

 1

11

7 3 1 1 1 :'

-D rs ~ a y R

'-

-

V4L2 Video Ca(iure

671 1

73

11

I

I -

6 911 6 3 1 1 63

..

1 02 1 1

I I I

1031C 971C = 9 s lC

96

11

9811

L

_ _ _._ _._ __._ _m _ ~ ~ J I _ _m_ _ _ _. _ ._m_ _ _ _ _ _m _ ~_ ~_J_c = _ DísplayG

I

----.1

I L _ _ _ _ _ _ _ _ _ _ .~ ? J

1 0 21 1 961 1 1 0 61 1

11 9 61 1 94 11

102

L _ .. _ _ .._ .... _ _

.2 ~ ~ H .... _  _ ._.L ~_~~]

Display B

and you obtained a console about simulation notification.

1031C 971C 1031C