SN
第 2 页 共 24 页
目 录
目 录.................................................................................................................................................................. 2
1 介绍.................................................................................................................................................................. 4
2 开始.................................................................................................................................................................. 4
2.1 软件要求............................................................................................................................................... 4
2.2 安装....................................................................................................................................................... 4
2.3 编译....................................................................................................................................................... 4
3 仿真器使用...................................................................................................................................................... 4
4 函数代码编写.................................................................................................................................................. 5
4.1 Matlab 函数代码编写............................................................................................................................ 5
4.2 C++函数代码编写................................................................................................................................. 6
4.3 调用 Simulink 模块对话框 .................................................................................................................. 6
5 初始化.............................................................................................................................................................. 6
5.1 编写 Matlab 初始化脚本文件.............................................................................................................. 6
5.2 编写 C++初始化脚本文件................................................................................................................... 7
6 编译.................................................................................................................................................................. 7
7 TrueTime Kernel ............................................................................................................................................... 7
7.1 动态电压范围....................................................................................................................................... 8
8 TrueTime Network ............................................................................................................................................ 8
8.1 CSMA/CD (Ethernet)—以太网........................................................................................................... 10
8.2 CSMA/AMP (CAN)............................................................................................................................. 10
8.3 Round Robin (Token Bus) —轮询（令牌总线）............................................................................... 10
8.4 FDMA—频分 ...................................................................................................................................... 10
8.5 TDMA (TTP)—时分............................................................................................................................ 10
8.6 Switched Ethernet—交换式以太网......................................................................................................11
9 TrueTime Wireless Network.............................................................................................................................11
10 TrueTime Battery ...........................................................................................................................................11
11 TrueTime Standalone Network Blocks...........................................................................................................11
12 例程...............................................................................................................................................................11
12.1 PID-control of a DC-servo................................................................................................................. 12
12.2 Task Scheduling and Control.............................................................................................................. 13
12.3 Distributed Control System................................................................................................................ 13
12.4 Deadline Overrun Handling ............................................................................................................... 14
12.5 Task Synchronization Using Monitors ............................................................................................... 14
12.6 Distributed Wireless Control System ................................................................................................. 15
12.7 Control and Coordination of Mobile Motes....................................................................................... 15
12.8 Wireless Ad-hoc Routing Using AODV............................................................................................. 15
12.9 Mote Soccer........................................................................................................................................ 15
12.10 ttSendMsg/ttGetMsg stand-alone network blocks............................................................................ 15
13 Kernel 执行技术细节................................................................................................................................... 15
13.1 Kernel 的数据结构............................................................................................................................ 16
13.2 任务模型（Task Model） ................................................................................................................ 18
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