TrueTime1.5入门指南：安装与功能详解

TrueTime1.5

2星需积分: 10 32 浏览量更新于2024-07-30 收藏 1.23MB PDF 举报

身份认证购VIP最低享 7 折!

30元优惠券

TrueTime1.5用户手册是一份详细的指南，由马丁·奥林、丹·亨里克森和安东·塞维宁编写，隶属于隆德大学自动控制系。该手册旨在为初学者提供对TrueTime1.5系统全面的理解和操作支持，它涵盖了从安装和配置到高级功能的深入讲解。 1. **介绍**：手册首先引导读者了解TrueTime1.5的基本概念，强调其在实时嵌入式系统开发中的重要性。TrueTime是一种专门为实时应用设计的实时操作系统，注重低延迟和高可靠性。 2. **入门指南**： - **软件需求**：这部分列出了使用TrueTime1.5所需的软件环境，包括特定版本的MATLAB和C++编译器，确保开发者能够顺利进行开发。 - **安装与编译**：介绍了如何下载并安装TrueTime1.5，以及如何编译代码以适应硬件平台。 3. **使用模拟器**：手册详细介绍了如何利用TrueTime提供的模拟器进行系统测试和调试，这对于理解和优化代码性能至关重要。 4. **编写代码函数**： - **MATLAB代码函数**：这部分展示了如何编写高效且符合TrueTime规范的MATLAB函数，用于与模拟器交互或处理数据。 - **C++代码函数**：同样介绍了C++编程在TrueTime1.5中的应用，包括接口和注意事项。 5. **初始化**： - **MATLAB初始化脚本**：指导如何编写脚本来设置系统的初始状态，如变量初始化和通信参数。 - **C++初始化脚本**：对于那些需要更底层控制的情况，提供了C++初始化脚本的编写方法。 6. **编译**：这部分着重于编译过程中的细节，包括编译选项和配置，以确保代码在TrueTime1.5环境中无缝运行。 7. **TrueTime内核**： - **动态电压调整（Dynamic Voltage Scaling）**：讲解了TrueTime如何通过动态调整电压来优化功耗和性能。 8. **TrueTime网络**： - **CSMA/CD (Ethernet)**：介绍了以太网协议在TrueTime网络中的实现，包括冲突检测机制。 - **CSMA/AMP (CAN)**：展示了CAN总线协议在TrueTime中的集成。 - **其他网络模型**：包括令牌环、频分多址（FDMA）、时分多址（TDMA）和交换式以太网等，覆盖了不同类型的通信技术。 9. **无线网络**： - **802.11b/g (WLAN)**：讲解Wi-Fi在TrueTime无线网络中的应用，涉及信号处理和连接设置。 - **802.15.4 (ZigBee)**：介绍了ZigBee协议在低功耗无线网络中的整合。 10. **TrueTime电池管理**：这部分关注电池供电设备，讲解了如何优化电池寿命和能量效率。 11. **独立网络模块**：手册还涵盖了一些预定义的TrueTime网络组件，可以帮助开发者快速构建自己的系统架构。 12. **示例**：手册提供了一系列实用案例和示例代码，以便读者学习和实践TrueTime1.5的应用。 13. **PID控制**：在“Examples”部分的最后，介绍了如何在TrueTime1.5环境中实现PID控制器，这是工业控制系统中常见的控制算法。 TrueTime1.5用户手册是一个详尽的资源，适合希望深入理解和使用TrueTime1.5系统的开发人员，无论是初学者还是有经验的工程师，都能从中找到所需的信息和技术支持。

资源详情

资源推荐

Figure 6 The dialog of the TRUETIME network block.

The network block is configured through the block mask dialog, see Figure 6.

Using the command ttSetNetworkParameter, see Section 14, it is also possible to

change some parameters on a per node basis. The following network parameters

are common to all models:

Network number The number of the network block. The networks must be

numbered from 1 and upwards. Wired and wireless networks are not al-

lowed to use the same number.

Number of nodes The number of nodes that are connected to the network.

This number will determine the size of the Snd, Rcv and Schedule input

and outputs of the block.

Data rate (bits/s) The speed of the network.

Minimum frame size (bits) A message or frame shorter than this will be

padded to give the minimum length. Denotes the minimum frame siz e,

including any overhead introduced by the protocol. E.g., the minimum Eth-

ernet frame size, including a 14-byte header and a 4-byte CRC, is 512 bits.

Pre-processing delay (s) The time a message is delayed by the network in-

terface on the sending end. This can be used to model, e.g ., a slow serial

connection between the computer and the network interface.

Post-processing delay (s) The time a message is delayed by the network in-

terface on the receiving end.

Loss probability (0 –1) The probability that a network message is lost during

transmission. Lost messages will consume network bandwidth, but will

never arrive at the destination.

8.1 CSMA/CD (Ethernet)

CSMA/CD stands for Carrier Sense Multiple Access with Collision Detection. If

the network is busy, the sender will wait until it occurs to be free. A collision

will occur if a m essage is transmitted within 1 microsecond of another (this

corresponds to the propagation delay in a 200 m cable; the actual number is not

very important since collisions are only likely to occur when two or more nodes

are waiting for the cable to be idle). W hen a collision occurs, the sender will back

of f for a time defined by

backoff

= minimum frame size / data rate $ R

where R = rand(0, 2

−1) (discrete uniform distribution) and K is the number

of collisions in a row (but maximum 10—there is no upper limit on the number of

retransmissions, however). Note that for CSMA/CD, minimum frame size cannot

be 0.

After waiting, the node will attempt to retransmit. In an example where two

nodes are waiting for a third node to finish its transmission, they will first

collide with p robability 1, then with probability 1/2 (K = 1), then 1/4 (K = 2),

and so on.

8.2 CSMA/AMP (CAN)

CSMA/AMP stands for Carrier Sense Multiple Access with Arbitration on Mes-

sage Priority. If the network is busy, the sender will wait until it occurs to be

free. If a collision occurs (again, if two transmissions are being started within

1 microsecond), the message with the highest pri ority (the lowest priority num-

ber) will continue to be transmitted. If two m essages w i th the same priority

seek transmission simultaneously, an arbitrary choice is made as to which is

transmitted first. (In real CAN applications, all sending nodes have a unique

identifier, which serves as the message priority.)

8.3 Round Robin (Token Bus)

The nodes in the network take turns (from lowest to highest node number) to

transmit one frame each. Between turns, the network is idle for a time

idle

= minimum frame size / date rate,

representing the time to pass a token to the next node.

8.4 FDMA

FDMA stands for Frequency Division Multiple Access. The transmissions of the

different nodes are completely independent and no collisions can occur. In this

mode, there is an extra attribute

Bandwidth allocations A vector of shares for the sender nodes which must

sum to at most one.

The actual bit rate of a sender is computed as (allocated bandwidth $ data rate).

8.5 TDMA (TTP)

TDMA stands for Time Division Multiple Access. Works similar to FDMA, except

that each node has 100 % of the bandwidth but only in its scheduled slots. If a

full frame cannot be transmitt ed in a slot, the transmission will continue in the

next scheduled slot, without any extra penalty. Note that overhead i s added to

each frame just as in the other protocols. The extra attributes are

Slot size (bits) The size of a sending slot. The slot time is hence given by

slot

= slot size / data rate.

Schedule A vector of sender node ID’s (1 . . . nbrOfNodes) specifyi ng a cyclic

send schedule. A zero is also an allowed node ID, meaning that no-one is

allowed to transmit in that time slot.

8.6 Switched Ethernet

In Switched Ethernet, each node in the network has its own, full-duplex con-

nection to a central switch. Compared to an ordinary Ethernet, there will never

be any collisions on the network segments in a Switched Ethernet. The switch

stores the received messages in a buffer and then forwards them to the correct

destination nodes. This common scheme is known as store and forward.

If many messages in the switch are destined for the same node, they are trans-

mitted in FIFO order. There can be either one queue that holds all the messages

in the switch, or one queue for each output segment. In case of heavy traffic and

long message queues, the switch may run out of memory. The following options

are associated with the Switched Ethernet:

Total switch memor y (bits) This is the total amount of memory available for

storing messages in the switch. An amount of memory equal to the length

of the message is allocated when the message has been fully received in

the switch. The same memory is deallocated when the complete message

has reached its final destination node.

Switch buffer type This setting describes how the memory is allocated in the

switch. Comm on buffer means that all messages are stored in a single FIFO

queue and share the same memory area. Symmetric output buffers means

that the memory is divided into n equal parts, one for each output segment

connected t o the switch. When one output queue runs out of memory, no

more messages can be stored in that particular queue.

Switch overflow behavior This option describes what happens when the

switch has run out of memory. When the complete message has been re-

ceived in the switch, it is deleted. Retransmit means that the switch then

informs the sending node that it should try to retransmit the message.

Drop means that no notification is given—the message is simply deleted.

Network number The number of the network block. The networks must be

numbered from 1 and upwards. Wired and wireless networks are not al-

lowed to use the same number.

Number of nodes The number of nodes that are connected to the network.

This number will determine the size of the Snd, Rcv and Schedule input

and outputs of the block.

Data rate (bits/s) The speed of the network.

Minimum frame size (bits) A message or frame shorter than this will be

padded to give the minimum length. Denotes the minimum frame siz e,

including any overhead introduced by the protocol. E.g., most network pro-

tocols have a fixed number of header and tail bits, so the f rame must be at

least s izeo f (header)+ sizeo f (tail) long.

Tran smit power Determines how strong the radio signal will be, and thereby

how long it will reach.

Receiver signal threshold If the received energy is above this threshold, then

the medium is accounted as busy.

Path-loss exponent The path loss of the radio signal is modeled as

where

d is the distance in meters and a is a suitably chosen parameter to model

the environment. Typically chosen in the interval 2-4.

ACK timeout The time a sending node will wait for an ACK message before

concluding that the message was lost and retransmit it.

Retr y limit The maximum number of times a node will try to retransmit a

message before giving up.

Error coding threshold A number in the interval [0, 1] which defines the per-

centage of block errors in a message that the coding can handle. For exam-

ple, cer tain coding schemes can fully reconstruct a message if it has less

than 3% block errors. The number of block errors are calculated using the

signal-to-noise ratio, where the noise is all other ongoing transmissions.

9.1 80 2 .11b/g (W LAN)

IEEE 802.11b/g is used in many laptops and mobile devices of today. The protocol

is based on CSMA/CA with some modifications.

In the simulation, a package transmission is modeled li ke this: The node that

wants to transmit a packet checks to see i f the medium i s idle. The transmission

may proceed, if the medium is found to be idle, and has stayed so for 50

s. If,

on the other hand, the medium is found to be busy, a random back-off time is

chosen and decrement ed in the same way as when colliding (described later in

this section). When a node starts to transmit, its relative position to all other

nodes in the same network is calculated, and the signal level in all those nodes

are calculated according to the path-loss formula

The signal is assumed to be possible to detect if the signal level in the receiving

node is larger than the receiver signal threshold. If this is the case, then the

signal-to-noise ratio (SNR) is calculated and used to fi nd the block error rate

(BLER). Note that all other transmissions add to the background noise when

calculating the SNR. The BLER, together with the size of the message, is used

to calculate the number of bit errors in the message and if the percentage of

剩余106页未读，继续阅读

grant23

粉丝: 0
资源: 4

TrueTime1.5入门指南：安装与功能详解

truetime1.5

truetime-1.5使用手册

TRUETIME 1.5—Reference Manual.pdf

truetime仿真教程

truetime2.0

Google Spanner的分布式数据库 是什么

TrueTime-1.5 工具箱

truetime中文说明手册

Hanna Montenna

各种函数声明和定义模块

湖北工业大学在河南2021-2024各专业最低录取分数及位次表.pdf

1805.06605v2 DEFENSE-GAN.pdf

【语音去噪】FIR和IIR低通+带通+高通语音信号滤波（含时域频域分析）【含Matlab源码 4943期】.mp4

java-ssm+jsp幼儿园管理系统实现源码(项目源码-说明文档)

hadoop_3_2_0-yarn-resourcemanager-3.3.4-1.el7.x86_64.rpm

DelphiWebMVC-master.zip

东北农业大学在河南2021-2024各专业最低录取分数及位次表.pdf

python第二次作业

hadoop_3_2_0-mapreduce-historyserver-3.3.4-1.el7.x86_64.rpm

北京理工大学(珠海校区)在河北2021-2024各专业最低录取分数及位次表.pdf

最新资源

Google Spanner的分布式数据库是什么