Re: [Gumstix-users] Gummy Target

[Mario M. <mar...@gm...>]

Dave and Robert

For Dave,

Matlab as a tcpip server if that helps, but it needs an open port to make
the connection

For Robert,

I'm trying that my department gives my a pc dedicated just to linux, and
install in it the matlab liux version.
But for now, I've got to solve this "little" problem.

Being more specific;

I'm doing a project called "Design of a controller and communication system
for a humanoid robot", with a Bioloid from Robotis, on of the acomplishments
is to change the CM5 (the controller board that comes with the humanoid)
with the Gumstix/Robostix combo (TCP/IP from the host PC to Gumstix, and
RS485 from Robostix to the robot servos).
Matlab is the program that we use in our lab to do the hi-level tasks, such
as close loop control. We are planning of assemblying a gyro, and
accelerometers, and we use matlab for online control.
The connection from Matlab to Gumstix is made by the Real Time toolbox, but,
since the Gumstix doesn't suport real time, i've managed to find that
usefull software called Soft Real Linux Target, that suposes to "emulate" a
RTLinux and configure a Linux OS as target.
When the Matlab/Gumstix connection is made, it will be very fast the
progression to control the 19 servos from the Bioloid.
But it as been like TWO weeks trying to crack code and nothing... and I'm
starting to go mad... because it's the only thing that is stopping me right
now to sucess with this project.

Thanks a lot for all the support

Marques



On 08/02/07, ro...@in... <ro...@in...> wrote:
>
> Quoting Mario Marques <mar...@gm...>:
>
> > I'm trying to connect Matlab (2006b on WinXP) to Gumstix.
> >
> > 1. I'm using the Real Time Toolbox, with SoftRealTimeLinux, from Dan
> > Bahnderi (posted in Mathworks)
> > 2. I'm just trying to compile a simple random number generator in
> Simulink,
> > so I can upload it to Gumstix.
>
> This sounds problematic. If you compile something on your WinXP,
> it cannot be executed on the Gumstix (unless you somehow force
> Matlab to execute the 80386/ARM cross compiler).
>
> > 3. I do everything by the book (following the readme.txt in the SRTL
> > Toolbox)
> > 4. I Build the Simulink blocks, and Matlab generates the code
> >
> > PROBLEM 1 - It generates the code, it doesn't compiles it, since he
> doesn't
> > find "make", I've tried to change it for "gmake" but without sucess.
>
> Find out what was the software development environment utilized
> by Mr. Bahnderi, and try to copy that.
>
> Software development on WinXP is problematic, from my Un*x
> point of view. Do you have to use Windows? Maybe you can use
> Linux instead. Then a default installation will have make +
> lots of other stuff.
>
> > PROBLEM 2 - So that Matlab can connect to Gumstix, I've got to select a
> port
> > for the tcp connection, but, in gumstix just port 22 is open (at least
> > mine), and to open the port (2000 in my case), I use the "nc" command,
> but
> > it stays listenning, I can write, and read from Gumstix to Matlab. but I
> > can't execute nothing. Is there a way to open ports without "nc"? giving
> > full acess from Matlab to Gumstix? or by changing the Putty settings?
>
> It's not clear to me what you're trying to accomplish.
> Maybe you can explain it by telling us a scenario which you
> want to work, i.e., if it was working as you expect, what
> would it look like?
>
> Sorry I can't be more helpful,
> Robert Dodier
>