[[Image:Shadok_Bullshit.jpg|thumb|right|150px|Shadok motto - It's better focusing one's cleverness on stupid things than focusing one's "stupidness" on clever things.]]
=dsPIC Blockset=

==Animation & film explaining blockset usage==

*[[Animation_Installation_Procedure| Installation Procedure (Old) ]]
*[[Animation_Compiling_your_first_model| Compile your first model (Old) ]]
*[[Animation_Log_and_Plot_datas_from_PIC_with_Matlab| Log and plot datas from the PIC with Matlab (Old)]]

*[http://www.vimeo.com/6481193 Screencast], from '''installation''' to '''advanced technics''' of the dsPIC blockset. Realized by [http://users.soe.ucsc.edu/~malife/ Mariano Lizarraga] from the [http://slugsuav.soe.ucsc.edu/crew/crew.html Santa Cruz Low-cost UAV GNC System (SLUG) team], (added on April, 28th 2009). Original movie available [http://vimeo.com/download/video:7952623?v=2&e=1252406968&h=55bf82df2c3ed83c62a513ce4390ecd3&uh=1d135a0ad665aba5aed40825be946851 here]

==Examples and personal projects using the blockset==

===Automatics and Signal Processing projects===

*[[PIC32_Sensorless_Speed_Controller_for_DC_Motor_Applied_on_Picooz_Main_Rotor|'''Sensorless Speed Controller for DC Motor Applied on Picooz Micro Helicopter''' (PIC32)]] - (May 2009)

*[[MEMS_based_Autopilote_on_dsPIC_for_RC_model_airplane|'''Autopilote for RC model airplane''']]

*[[Miniature_Inertial_Measurement_Unit_-_IMU|'''Inertial Measurement Unit (IMU)''' implemented with a dsPIC 30f4012]]

===Technical demo===

3 examples on data communication/transmission

* [[CAN_communication_between_two_dsPIC|CAN communication between two dsPIC]] based on two 30f4012 (December 2010)

* [[PWM_communication_between_two_dsPIC|PWM communication between two dsPIC]] based on two 30f4012 (December 2010)

* [[SPI_communication_between_two_dsPIC|SPI communication between two dsPIC]] based on two 30f4012 (December 2010)

*[[Hyper_Sampling| Synchronise PWM and ADC sample time to get an artificial very high sampling rate]]

===Flex Board Kit (from Evidence)===

*[[Flex_Board_Blinking_Led|Example for Flex Board]]: Blinking Led and rs232 data transmition

===Microchip Kits===

*[[Explorer_16_Board| Explorer 16 Development Board]]
*[[Getting_Started_with_Digilent_Cerebot_32MX4|Getting Started with Digilent Cerebot 32MX4 board]] (proposed by J Rogers, USMA, West Point, NY)

===MPLAB IDE===
*[[MPLAB_X|importing project into MPLAB X ide]] (proposed by J Rogers, USMA, West Point, NY)

comming next : MicroStick, PIC32 USB Starter Kit

===Old example===

*[[Importing_Simulink_Generated_Code_into_Mplab| Import Simulink Generated code into MPLAB ]]

==Examples from forum==

*[http://www.kerhuel.eu/forum/viewtopic.php?f=9&p=1216&sid=6fc1dd8fbdc6e49ce5b3fc7bfbd127b9#p1213 SPI EEPROM Record and Playback on Explorer 16]
* please complete

==Projects using this blockset==
[[Image:SlugUAV.jpg|250px|right]]
*[http://slugsuav.soe.ucsc.edu UAV Autopilot (Open Source)] developed by the [http://asl.soe.ucsc.edu/ Autonomous Systems Lab] - [http://www.ucsc.edu/ University of California Santa Cruz] (UCSC).

*Rogers, J. '''''[http://www.ballos.com/tepraconnect_interface/TePRA09/309.pdf AUTONOMOUS VEHICLE DRIFTING]'''''. United States Military Academy, mail stop MADN-CME, West Point, New York

* Nguyen T., Rosen J., Mednick J. '''''[https://surf-it.soe.ucsc.edu/sites/default/files/Nguyen_report.pdf Jared MednickLower Limb Exoskeleton]'''''

* X4 at [http://aero.concept.chez-alice.fr/X4-V2-1.html Aero Concept] website

* Duma, R. ; Dobra, P. ; Trusca, M. ; Sita, I.V. ; "'''''[http://www.muri.utcluj.ro/pride/uploads/007_paper_CSCC18_CR.pdf Rapid Control Prototyping Libraries with Application for Positioning Systems]'''''"

* Vejlupek, J. ; Lambersky, V. Klimes, D. "''''' [http://phobos.vscht.cz/konference_matlab/MATLAB11/prispevky/123_vejlupek.pdf DEVELOPMENT OF MOBILE ROBOT WITH 4WD AND4WS CAPABILITY]'''''".

* Lior Alpert, Raz Shani, and Shay Arogeti. [https://www.youtube.com/watch?v=5HwkyVQl1sg Hexa Copter as a final project in mechanical engineering at Ben-Gurion University, Israel. (Mikro-Kopter Frame and UDB4 board)].

* David Vorsin, Shai Arogeti. [https://www.youtube.com/watch?v=domTfJljRAQ multipurpose UAV (MP-UAV)]

* add yours

==Scientific Articles using (or related to) the blockset==

* Ghassoul, M. ('''14 July 2011''') "'''''Design of a fuzzy system to control a small electric train using the microchip PIC32 with the aid of MATLAB blocksets'''''", IEEE Computer Science and Automation Engineering (CSAE), 2011 IEEE International Conference on. Shanghai. Vol 3 pp.242-246 doi:[https://dx.doi.org/10.1109/CSAE.2011.5952673 10.1109/CSAE.2011.5952673]

* Kerhuel, L. ; Viollet, S. ; Franceschini, N. ('''March 2011''') "'''''[http://www.kerhuel.eu/publi/Kerhuel_2011_IEEE_SensorJournal.pdf The VODKA sensor: a bio-inspired hyperacute optical position sensing device]'''''", IEEE Sensors Journal. doi:[https://dx.doi.org/10.1109/JSEN.2011.2129505 10.1109/JSEN.2011.2129505]

* Viollet, S. ; Ruffier, F. ; Ray, T. ; Kerhuel, L. ; Aubépart, F. ; Franceschini, N. ; Ménouni, M. ('''December 2010''') "'''''[https://www.sensorsportal.com/HTML/DIGEST/february_2011/P_SI_140.pdf Performances of Three Miniature Bio-inspired Optic Flow Sensors under Natural Conditions]'''''", Sensors & Transducers Journal (9), Special Issue : 151-159. ISSN 1726-5479

* Kerhuel, L ; Viollet, S. ; Franceschini, N. ('''24 August 2010''') "'''''[https://www.kerhuel.eu/publi/Kerhuel_2010_VODKA_SAB2010_SmartSensorWorkshop.pdf A Hyperacute Vibrating Optical Device for the Control of Autonomous robots (VODKA)]'''''", The 11th International Conference on Simulation of Adaptive Behavior, [http://smartsensors.webnode.com/ Smarter sensors, easier processing Workshop].

* Yang H.C. ; Sababha B. ; Acar, C. ; Rawashdeh, O. ;('''April 2010''') "'''''[https://arc.aiaa.org/doi/abs/10.2514/6.2010-3407 Rapid Prototyping of Quadrotor Controllers using MATLAB RTW and dsPICs]'''''", AIAA. doi:[https://doi.org/10.2514/6.2010-3407 10.2514/6.2010-3407]

* Kerhuel, L ; Viollet, S. ; Franceschini, N. ('''April 2010''') "'''''[https://www.kerhuel.eu/publi/Kerhuel_2010_IEEE_trans_rob.pdf Steering by Gazing: An Efﬁcient Biomimetic Control Strategy for Visually Guided Micro Aerial Vehicles]'''''", IEEE TRANSACTIONS ON ROBOTICS '''26''' (2):307-318. doi:[https://dx.doi.org/10.1109/TRO.2010.2042537 10.1109/TRO.2010.2042537]

* Kerhuel, Lubin ('''16 December 2009''') '''''[https://www.kerhuel.eu/publi/Kerhuel_2009_PhD.pdf Capteur optiques minimalistes et réflexes oculomoteurs biomimétiques. Applications à la robotique aérienne]''''' (Ph.D. thesis). Montpellier 2 University (France).

*Lizarraga M. I., Elkaim G. H., Horn G. M., Curry R., Dobrokhodov V., Kaminer I. ('''30-2 September 2009''') '''''[http://mechatronics.ece.usu.edu/uav+water/MESA09-SUAVTA/DETC2009-86547.pdf Low cost rapidly reconfigurable UAV autopilot for Research and Development of Guidance, Navigation and Control algorithms]''''', Proc. of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2009. San Diego, California, USA.

*Vempaty P.K., Choudhury, N.R., ('''7-9 June 2009''') '''''[http://mosfet.isu.edu/classes/mousavinezhad/IEEE%20eit%202009/PDF%20files/Papers/000292.pdf Robust control algorithm on a 16-bit dsPIC processor]''''', IEEE International Conference on Electro/Information Technology, 2009. Windsor, ONTARIO. (292-296). doi:[http://dx.doi.org/10.1109/EIT.2009.5189629 10.1109/EIT.2009.5189629]

* Serres, J. ; Viollet, S. ; Kerhuel, L ; Franceschini, N. ('''March 2009''') "'''''[http://www.kerhuel.eu/publi/LaRevue3EI_JS_SV_LK_NF_mars2009.pdf Régulation de vitesse d'un micromoteur à courant continu sans capteur au moyen d'un microcontrôleur dsPIC programmé par une passerelle Matlab<sup>TM</sup>/Simulink]'''''" '''56'''. [http://www.see.asso.fr/htdocs/main.php/3ei.php/ La Revue 3EI].

* Viollet, S. ; Kerhuel, L. ; Franceschini, N. ('''25-27 June 2008''') "'''''[http://www.kerhuel.eu/publi/Viollet_2008_IEEE_MED.pdf A 1-gram dual sensorless speed governor for micro-air vehicles]'''''". 16th Mediterranean Conference on Control and Automation : 1270-1275. doi:[http://dx.doi.org/10.1109/MED.2008.4602072 10.1109/MED.2008.4602072]

* Smolnikar, M. ; Mohorcic, M. ('''February 2008''') "'''''[http://www.wseas.us/e-library/transactions/education/2008/25-470.pdf A Framework for Developing a Microchip PIC Microcontroller Based Applications]'''''", WSEAS TRANSACTIONS on ADVANCES in ENGINEERING EDUCATION. '''2''' (5):83-91. (ISSN: 1790-1979)

* Duma, R. ; Dobra, P. ; Trusca, M. ; Petreus, M. ; Moga, M. ('''25-27 June 2008''') "'''''[http://www.muri.utcluj.ro/pride/uploads/032_paper_ifac_duma_2011.pdf Towards a Rapid Control Prototyping Toolbox for the Stellaris LM3S8000 Microcontrollers]'''''", IFAC, Proceedings of the 18th World Congress, Milano, Italy. (8):1965-1970. doi:[https://dx.doi.org/10.1109/MED.2008.4602072 10.3182/20110828-6-IT-1002.02998]

* Hong Chul Yang, Belal Sababha, Coskun Acar, Osamah Rawashdeh ('''20-22 April 2010''') "'''''[http://www.academia.edu/462768/Rapid_Prototyping_of_Quadrotor_Controllers_using_MATLAB_RTW_and_dsPICs Rapid Prototyping of Quadrotor Controllers using MATLAB RTW and dsPICs]'''''", AIAA Infotech Aerospace Conference, , Georgia, USA. 2009-2047. doi:[https://dx.doi.org/10.2514/6.2009-2047 10.2514/6.2009-2047]

* add yours...

=Others projects=

*[[Picooz|Analysis of Picooz performances (miniature flying helicopter)]] for my next project..

Customer Feedback

2019-03-25T20:32:08Z

LubinKerhuel: /* Others work / publication using this toolbox */

This page is for customers' feedback

To edit this page, you must first '''first Log in / create account''' (link at top right)

Please write your feelings (good strong points and weaknesses) about the blockset. A small description of projects you are working on would be appreciated. You can add a weblink to projects developed with the blockset, and illustrations.
If you do not know how to do it (test with the [[Sandbox]]), you can just send me an email with the information.

Thanks for your participation

Lubin

== Use of Lubin's Blockset in the SPARKy Project ==

Our laboratory has been using Lubin's blockset for two year's with outstanding success. We developed very sophisticated Simulink routines to control a powered robotic ankle using a PC104 computer and the xPC Toolbox. We were unsure if we could develop the same code for a microprocessor. We chose the dsPIC 33 from Microchip because of Lubin's toolbox. We use Matlab, Simulink, Real Time Worshop 2007b to develop our code.

His toolbox has allowed us to develop a portable microprocessor unit in six months. The SPARKy ankle (Spring Ankle with Regenerative Kinetics) allows a person to seemlessly walk over ground, walk up and down stairs, and walk on inclines and declines.

Lubin answers all emails in 24 hours and his code has been tested in our laboratory.

Cheers,
Dr. Thomas G. Sugar
Associate Professor

[https://thomassugar.github.io/hmil/ Human Machine Integration Laboratory]

----
Update by T.FLAVEN on April 1, 2010 Happy fish day!

We are using the Kerhuel blockset for the last 3 years and he improved the blockset every time we asked. We are in an advanced level on our project now and it's still very efficient.

We are starting research to provide perceptive feedback, to shrink and ruggedize the device, for battery pack safety, charger and adding other options, all still with the Kerhuel blockset.

We will use the blockset soon to teach PID control loop in an undergraduate class.

Lastly Sparky was in the special [https://ngm.nationalgeographic.com/2010/01/bionics/thiessen-photography National geographic ] of January 2010 about Bionic researches:

Arizona State University has shot a very nice movie :

{{#evt:
service=vimeo
|id=16433476
|alignment=center
|container=frame
|dimensions=800
|autoresize=true
|description=Authors: Skip Derra, ASU Public Affairs, Videographer: Ken Fagan ,Editor: Ken Fagan
}}

----

== Use of Lubin's Blockset in the SLUGS Project ==

I've looked at both alternatives in the market (Microchip's and Lubin's) and actually tested both of them and I have to say Lubin's is much better than Microchip's. For instance the C function call that Microchip implements you can only pass scalars (i.e. no vectors) which is essentially useless. Also all of their blocks are polled-based instead of interrupt driven, which if you are playing in a classroom it might be OK but if you are doing some serious development is also useless.

We decided to stay with Lubin's blocks for this reason and also for the continuous support. Usually issues that we've had (bugs) have been resolved within 48 hours. Try getting that from Microchip. Don't get me wrong I really like Microchip's products and I think there are many things they are doing very well, but their Simulink blockset is not one of them.

The usage of this blockset has allowed us to develop much faster and with fewer bugs than hand written code. At the same time, by providing the C function-call block he has given the freedom to implement all the required functions. It is so versatile that if you really wanted you could rewrite the whole blockset using C function-calls (not that I would ever do it, but you could). Code generated by this blockset is being used in a UAV and has proven to correctly generate code based on Simulink models.

Overall we are extremely satisfied with the results we've gotten. I highly recommend it.

Mariano I. Lizarraga
PhD Candidate
UCSC Autonomous Systems Lab
[[https://slugsuav.soe.ucsc.edu]]
== I use RTWdsPIC toolbox to build a robot hand with 10 acuators within a very shoot time ==
[[Image:robothand.png|thumb|right|350px|Robothand with all its embedded electronics controllers. Image from Chen, Yuan Ze University, Taiwan]]
Hi, I am Chen from Yuan Ze University in Taiwan.
I use the dsPIC toolbox to build a robot hand with 10 embedded servo control modules. Each modula consists of a dspic33fj202mc module to control a miniature linear actuator with full-bridge PWM output and potentiometer position feedback. And all modules are linked with an I2C bus. All functions, including feedback, feedforward, motion profile planing and communication are implemented in dspic toolbox blocks without hand coding. I love this toolbox for its saving our effort and the real time data exchange interface between the dspic and the PC running Simulink. Although we also own other vendor's toolbox, but quickly adhere to RTWdsPIC toolbox.

{{#evt:
service=youtube
|id=9Z3BvPUVHcY
|alignment=center
|container=frame
|dimensions=800
|autoresize=true
|description= Robothand - from Yuan Ze University, Taiwan.
}}

==User Feedback posted on the forum==

from https://www.kerhuel.eu/forum/viewtopic.php?f=1&t=252&p=991&hilit=microchip#p988

"This is the information I was looking for. Thanks for the reply and thanks for making such a great product. I have 3 times tried installing the evaluation blockset from Microchip on Matlab 2007a, 2007b, and 2009b and get different errors each time either during installation or trying to run a simple mode. In all cases, Microchip was unable to help. In contrast, I was up and running a fairly complex model with your block set in 2 hours."
----

== Jonathan Løwert said ... ==

<div class='commentBlock'>
We have used Lubin's Blockset in our master thesis at the Technical University of Denmark, our project is to build a autopilot for a remote controlled aerial drone. We are utilizing the great work done in the SLUGS project [https://slugsuav.soe.ucsc.edu/index.html]. We have enjoyed using the blockset it eliminated need to rewrite a matlab model to C-code before compiling. We used to blockset to generate all code for the PIC controllers. This have been great because we are custom to use matlab/simulink for design and testing. We can only recommend the use of Lubin's Blockset.

--[https://www.elektro.dtu.dk/English.aspx Jonathan Løwert] 09:23, 7 May 2010 (CEST)
</div>

Customer Feedback

2019-03-25T09:24:12Z

LubinKerhuel: http to https

Explorer 16 Board

2019-03-25T09:20:04Z

LubinKerhuel: http to https links

''Acknowledgement: Thanks to Microchip® for Providing the Explorer 16 Development Board with the REAL ICE programming system''
----

[[Image:Explorer16Board.png|thumb|right|400px|Explorer 16 Development Board equipped with dsPIC 33FJ256GP710 or PIC 24FJ128GA010 ]]

This example use the Explorer 16 Development Board with the dsPIC 33FJ256GP710 or the PIC 24JF128GA010 microcontroller.
The model file is in the blockset install directory : examples\dsPIC_33f_Explorer16.mdl

This model, with the dsPIC blockset, do :
[[Image:SimulinkExplorer16.png|thumb|right|400px|Simulink Model for Explorer 16 Board equipped with 33FJ256GP710 or PIC 24FJ128GA010 ]]
*One led blinking at 1Hz (Port A0)
*One led (Port A7) :
**blinking at 2Hz when the left button is pushed (Port D6)
**Switch on or off depending on the position of the potentiometer (Port AN5)
*Low pass Filtering sample value from the potentiometer (at 1Hz and 10Hz)
*Logging and Plotting with Matlab and in real time the raw and filtered samples from AN5 : Potentiometer

=Set UP=

==Simulink==
*When starting from scratch, you must configure the simulink compiler:
**Simulation ==> Configuration Parameters (Ctrl-E)
**In the Real time workshop pannel, browse the System Target File and select 'dspic.tlc'.
If you do not have 'dspic.tlc' in the list, the blockset is not properly installed. Download the last demo version and install it.
*Add the 'Master block' from the 'Embedded Target for Mircochip dsPIC' library.
*We set the model Time Step to 5ms:
**Simulation ==> Configuration Parameters (Ctrl-E)
**In the Solver pannel, set the fixed Step size to 0.005 (s).

==PIC==
[[Image:Explorer16_MasterBlockGeneral.png|thumb|right|150px|Master block configuration]]
[[Image:Explorer16_MasterBlockClock.png|thumb|right|150px|Master block configuration]]
Open the Master block.

*First, Select the dsPIC used. Select the 33fj256GP710 (Selected by default) (This ship is provided with the Explorer 16 board).
You can also select the PIC 24fJ128GA010 which is also provided with explorer 16 board and which has been tested. You could also use any other PIC. If the PIC target is modified, the model must be updated before compiling, or it must be compiled twice.

*The dsPIC timer 1 will be used to set the main time step of the model. ( defined previously to 5ms in simulink).
In "Real Time - Quartz" Tab, We set the oscillator mode to Quartz (XT-HS) and we set the Quartz to 8MHz. The quartz of the Explorer 16 board is 16MHz. We do not use the PLL here. If you wand to use the PLL, check it and set in the "Desired Instructions Per Secondes" the MIPS you wand. All Prescaler and PLL multiplier will be set automatically to achieve this desired MIPS. Verify however MIPS achieved in "Number Instructions Per seconds".

*All Timer will be configured automatically (-1)

=Set up PIC peripheral=

===Digital Input (Push Button) and Output (Blinking Led)===
[[Image:Explorer16_DigitalInput.png|thumb|right|150px|Digital Input Configuration]]
[[Image:Explorer16_DigitalOutput.png|thumb|right|150px|Digital Output Configuration]]

*The Digital Input block's output value is 0 while the button is pushed. The diagram make the LED blink when the button is pushed.

*The Digital Output Write block switch on or off Leds connected to the PIN A0 or A7 of the dsPIC depending on the block's input values. The refresh rate of this block is 200Hz (5ms : Red).

===Analog to Digital Converter (ADC for potentiometer)===

[[Image:Explorer16_ADCConfiguration.png|thumb|right|150px|ADC Configuration]]

Potentiometer is connected to the AN5 PIN. We used here the 10 bit ADC converter of the dsPIC but we using the 12 bits ADC is possible and switching from one to the other is as simple as selecting which one you want to use (one click solution !).

The value converted is an unsigned 16 bit variable where only the 10 lower bites are used.
The block create the variable 'ANmax' in the workspace that has the value of the max value taken by the output of the block. If using the 10bit ADC, the max value is 2^10 = 1024. When using the 12 bit ADC, the max value is 2^12 = 4096.

The output value of the ADC block is compared to ANmax/2 that is the mid position of the potentiometer (corresponding to a tension of 1.65V). When the value converted is greater than ANmax/2, the led connected to the port A7 switched on otherwise it is switched off.

===UART===
[[Image:Explorer16_UARTConfiguration.png|thumb|right|150px|UART Peripheral Configuration]]
Data transmition is done using the UART dsPIC peripheral and one PC serial COM port. The demo board RS-232 serial port must be connected to one COM port of the PC.

First of all, the baud rate of the UART must be set. For each baud selected, the Info text box show the real baud obtained the % error from the selected baud. The % error must be low (absolute value of error belo 3%) for the RS-232 serial transmition to work properly. Using a 8Mhz quartz with no PLL (obtaining 4 MIPS) the fastest workable baud rate is 19200.

The UART port of the board with the appropriate max3232 component is connected to the UART 2 of the dsPIC.

=Functions=

===Blinking Leds ===
A counter is used to make blinkind leds. Its sample time set to 1 for 1 seconde makes it count at 1Hz. The model has blocks with a sample time of 5ms (model main sample time) and others with 1 seconde (which is a multiple (X200) of the model sample time). Thus, this is a multirate model.
Color are used to see the different sample time (option in Format==> Ports/Signal display ==> 'Sample Time Color' .

*Red blocks have a sampling rate of 5ms (200Hz)
*Green blocks have a sampling rate of 1s (1Hz)

The counter is configured to count from 0 to 3. Bitewise logic and extract bit 0 and bit 1 of the counter. These bits are sent to the Digital Output Write bock.

Note : We could use two separate blocks : one for the port (A0 ) with a refreshing rate of 1Hz and another one for the third led (connected to A7) with a refreshing rate of 200Hz.

===Filtering===
The output value of the ADC block is also filtered with two different filters.
One first order filter with a frequency cut off at 1Hz designed with the matlab command line
>>c2d(tf([6],[1 6]),.005,'tustin'); %(need the Control System Toolbox)
and one first order filter with a frequency cut off at 10Hz designed with the matlab command line
>>c2d(tf([60],[1 60]),.005,'tustin')

The matlab filter block used works using double data type. It needs double data types at its input and provides double data types at its output. Two conversion blocks are used. Note however that calculation using double are time consumming for the dsPIC and it is preferable to realize fixed point filter. The fixed point toolbox is very helpfull to make precise and efficient calculation using only fixed point variables.

=Compile the Simulink to obtain the .hex / .elf file=

Once the model is done, C code is generated and compiled : click on the 'Incremental build' button or press 'Ctrl+b'. The .hex file obtained in the same directory of the. mdl file can be loaded into the dsPIC using MPLAB : go to MPLAB, File==> Import and select the .hex file, then, download it into your dsPIC using either ICD2, Real ICE or others...

html report with the C code generated can be generated. Go to Simulation ==> Configuration Parameters ==> select Real Time Workshop on the left column and check the option Generate HTML report on the right pannel. The model was compiled with Matlab 2007.

{| class="wikitable" style="text-align:center; width:50%" border="0"
! dsPIC 33FJ256GP710 !! 24JF128GA010
|-
| [[https://www.kerhuel.eu/RTWdsPIC/examples/Explorer16DevBoard/html_Hex_Matlab2007a/dsPIC_33f_Explorer16_codegen_rpt.html Report]] || [[https://www.kerhuel.eu/RTWdsPIC/examples/Explorer16DevBoard/html_Hex_Matlab2007a_24fj/dsPIC_33f_Explorer16_codegen_rpt.html Report]]
|-
| [[https://www.kerhuel.eu/RTWdsPIC/examples/Explorer16DevBoard/html_Hex_Matlab2007a/dsPIC_33f_Explorer16.hex Hex file]]|| [[https://www.kerhuel.eu/RTWdsPIC/examples/Explorer16DevBoard/html_Hex_Matlab2007a_24fj/dsPIC_33f_Explorer16.hex Hex file]]
|}

=Log and Plot Data=

===Pic side===
[[Image:Explorer16_TxMatlabMultiplexed.png|thumb|right|150px|Send multiplexed Data to Matlab (or Labview)]]

Once the UART is configured, the block to send data from the dsPIC to Matlab is configured. We set 3 channel to send 3 different data.
At low level portocol, the three data are uint16 and needs 3 char each to be sent. All data will be logged since at each time step, 9.6 char can be sent and 9 are required (3X3). Data will be logged with the same sampling rate than the block : 200Hz. It is possible to use more channel but this will lead to data loss (not important for visualisation or debugging).

Once the model is generated, compiled and the .hex file is loaded into the dsPIC, data will be logged and view with the matlab User Interface created. This one can be opened either in double clicking onto the block 'Interface Tx-Matlab' or typing at the matlab prompt >> rs232gui

===Computer side===

[[Image:Explorer16_LoggedDataCurvesStatics.png|thumb|right|250px|Raw and filtred data (at 1Hz and 10Hz) from the ADC 5 channel connected to the potentiometer]]
Once the .hex file is loaded into the dsPIC, you get two led blinking at 1Hz and 0.5Hz and the Explorer 16 Demo board is connected to one PC COM port.

[[Image:Explorer16_rs232gui.png|thumb|left|450px|RS232gui User Interface to log and plot data]]
Open the rs232gui user interface ( click twice on the block 'Interface Tx-Matlab' or type rs232gui at the matlab prompt.

Set the COM port to the one you are using (PC side) and set the baud rate to 19200 (same as dsPIC). No flow control used. Then,click on Connexion, wait 3 seconds and click on the Start button. On some PC, Matlab closed if you click on Connexion while data are being sent from the dsPIC to the PC. In that case, disconnect the dsPIC before pushing the Connexion button.

Moving the Potentiometer, you will obtain the following graphic with three curves : the blue curve is the raw data (unfiltred), the red curve is the data filtred at 1Hz and the green curve is the data filtered at 10Hz.

[[Image:Explorer16_LoggedDataCurvesAnimation.gif|frame|center|Animation showing Raw and filtred data (at 1Hz and 10Hz) from the ADC 5 channel connected to the potentiometer]]

[[Category:Example]]

Customer Feedback

2019-03-24T18:50:09Z

LubinKerhuel:

This page is for customers' feedback

To edit this page, you must first '''first Log in / create account''' (link at top right)

Please write your feelings (good strong points and weaknesses) about the blockset. A small description of projects you are working on would be appreciated. You can add a weblink to projects developed with the blockset, and illustrations.
If you do not know how to do it (test with the [[Sandbox]]), you can just send me an email with the information.

Thanks for your participation

Lubin

== Use of Lubin's Blockset in the SPARKy Project ==

Our laboratory has been using Lubin's blockset for two year's with outstanding success. We developed very sophisticated Simulink routines to control a powered robotic ankle using a PC104 computer and the xPC Toolbox. We were unsure if we could develop the same code for a microprocessor. We chose the dsPIC 33 from Microchip because of Lubin's toolbox. We use Matlab, Simulink, Real Time Worshop 2007b to develop our code.

His toolbox has allowed us to develop a portable microprocessor unit in six months. The SPARKy ankle (Spring Ankle with Regenerative Kinetics) allows a person to seemlessly walk over ground, walk up and down stairs, and walk on inclines and declines.

Lubin answers all emails in 24 hours and his code has been tested in our laboratory.

Cheers,
Dr. Thomas G. Sugar
Associate Professor

[http://robotics.eas.asu.edu Human Machine Integration Laboratory]

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Update by T.FLAVEN on April 1, 2010 Happy fish day!

We are using the Kerhuel blockset for the last 3 years and he improved the blockset every time we asked. We are in an advanced level on our project now and it's still very efficient.

We are starting research to provide perceptive feedback, to shrink and ruggedize the device, for battery pack safety, charger and adding other options, all still with the Kerhuel blockset.

We will use the blockset soon to teach PID control loop in an undergraduate class.

Lastly Sparky was in the special [http://ngm.nationalgeographic.com/2010/01/bionics/thiessen-photography National geographic ] of January 2010 about Bionic researches:

Arizona State University has shot a very nice movie :

{{#evt:
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== Use of Lubin's Blockset in the SLUGS Project ==

I've looked at both alternatives in the market (Microchip's and Lubin's) and actually tested both of them and I have to say Lubin's is much better than Microchip's. For instance the C function call that Microchip implements you can only pass scalars (i.e. no vectors) which is essentially useless. Also all of their blocks are polled-based instead of interrupt driven, which if you are playing in a classroom it might be OK but if you are doing some serious development is also useless.

We decided to stay with Lubin's blocks for this reason and also for the continuous support. Usually issues that we've had (bugs) have been resolved within 48 hours. Try getting that from Microchip. Don't get me wrong I really like Microchip's products and I think there are many things they are doing very well, but their Simulink blockset is not one of them.

The usage of this blockset has allowed us to develop much faster and with fewer bugs than hand written code. At the same time, by providing the C function-call block he has given the freedom to implement all the required functions. It is so versatile that if you really wanted you could rewrite the whole blockset using C function-calls (not that I would ever do it, but you could). Code generated by this blockset is being used in a UAV and has proven to correctly generate code based on Simulink models.

Overall we are extremely satisfied with the results we've gotten. I highly recommend it.

Mariano I. Lizarraga
PhD Candidate
UCSC Autonomous Systems Lab
[[http://slugsuav.soe.ucsc.edu]]
== I use RTWdsPIC toolbox to build a robot hand with 10 acuators within a very shoot time ==
[[Image:robothand.png|thumb|right|350px|Robothand with all its embedded electronics controllers. Image from Chen, Yuan Ze University, Taiwan]]
Hi, I am Chen from Yuan Ze University in Taiwan.
I use the dsPIC toolbox to build a robot hand with 10 embedded servo control modules. Each modula consists of a dspic33fj202mc module to control a miniature linear actuator with full-bridge PWM output and potentiometer position feedback. And all modules are linked with an I2C bus. All functions, including feedback, feedforward, motion profile planing and communication are implemented in dspic toolbox blocks without hand coding. I love this toolbox for its saving our effort and the real time data exchange interface between the dspic and the PC running Simulink. Although we also own other vendor's toolbox, but quickly adhere to RTWdsPIC toolbox.

{{#evt:
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==User Feedback posted on the forum==

from http://www.kerhuel.eu/forum/viewtopic.php?f=1&t=252&p=991&hilit=microchip#p988

"This is the information I was looking for. Thanks for the reply and thanks for making such a great product. I have 3 times tried installing the evaluation blockset from Microchip on Matlab 2007a, 2007b, and 2009b and get different errors each time either during installation or trying to run a simple mode. In all cases, Microchip was unable to help. In contrast, I was up and running a fairly complex model with your block set in 2 hours."
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== Jonathan Løwert said ... ==

<div class='commentBlock'>
We have used Lubin's Blockset in our master thesis at the Technical University of Denmark, our project is to build a autopilot for a remote controlled aerial drone. We are utilizing the great work done in the SLUGS project [http://slugsuav.soe.ucsc.edu/index.html]. We have enjoyed using the blockset it eliminated need to rewrite a matlab model to C-code before compiling. We used to blockset to generate all code for the PIC controllers. This have been great because we are custom to use matlab/simulink for design and testing. We can only recommend the use of Lubin's Blockset.

--[http://www.elektro.dtu.dk/English.aspx Jonathan Løwert] 09:23, 7 May 2010 (CEST)
</div>

== Others work / publication using this toolbox ==

* Hong Chul Yang, Belal Sababha, Coskun Acar,Osamah Rawashdeh. ('''April 2010''') "'''''[https://arc.aiaa.org/doi/abs/10.2514/6.2010-3407 Rapid Prototyping of Quadrotor Controllers using MATLAB RTW and dsPICs]'''''", AIAA. doi:[https://doi.org/10.2514/6.2010-3407]

2015-05-03T17:30:58Z

LubinKerhuel: LubinKerhuel moved page Block/UART Configuration to DsPIC Block/UART Configuration: Block is a special page, creates many issues

[[Image:Block_UART_Configuration.png|thumb|rght|Block UART Configuration]]
[[Image:Block_UARTGeneral_DialogBox.png|thumb|right|450px|UART Dialog, Tab General]]
The UART Configuration block set the parameters for the UART. Each UART has one Receive Rx pin and one Transmit pin Tx. The UART parameters are commmon for Rx and Tx of the same UART. The number or UART available depend on the Microcontroller used ( defined in the master block). Following parameters are fixed :
*1 stop bit
*8 bits data
*no parity
*no flow control

Related blocks : [[Block/UART_Configuration]] [[Block/Rx_Input]] [[Block/Tx_Output]] [[Block/Tx_Output_Multiplexed_For_Matlab-Labview]] [[Block/Interface_Tx-Matlab]]

=Dialog Box Parameters=

==n° UART==
UART to be used

==Main==
===Baud (kb/s)===
UART Speed you want to use. The exact speed will usually not be reach. An error below 4% usually gives no transmission errors. Check the error speed before use.

===Tx Rx Alternativ===
Use the Alternative Tx and Rx pin of the microcontroller if available. Use default pin otherwise.

===TXEN===
Set the output pin TX active for transmitting serial data. This is automatically checked when a Tx or "Tx Output Multiplexed For Matlab Labview" is present.

===Info===
Gives following information : UxBRG register value. The real bit rate achieved by the microcontroller and the error in percent between the real bit rate and the requested bit rate. The max Byte/Step is the maximum number of byte that can physically be sent during one diagram time step. If your schematic try to send more data through the UART, somme data will not be sent or the real time constraint will be violated (ie, the time step will be longer than expected).

==Tx Interrupt==
[[Image:Block_UARTTxTab_DialogBox.png|thumb|right|450px|UART Dialog, Tab Tx]]

===Tx Interrupt take place===
The UART peripheral has an internal 4 bytes Transmit buffer. Activating the Tx interrupt virtually extend this buffer to the desired size. The complete buffer size is the sum of the Tx interrupt buffer size plus the UART buffer size (4).
The Tx interrupt can take place :
*When the UART Peripheral Transmit buffer is empty
*When the UART Peripheral Transmit buffer has one empty space

===Tx Interrupt Priority===
Priority of the interrupt (1 is the lowest priority, 7 is the highest)

===Tx Interrupt buffer size===
Size of the circular buffer used by the interrupt. The total buffer size for the UART Tx peripheral is then the Tx Interrupt buffer size plus the 4 bytes internal peripheral buffer.

==Rx Interrupt==
[[Image:Block_UARTRxTab_DialogBox.png|thumb|right|450px|UART Dialog, Tab Rx]]

===Rx Interrupt take place===
The UART peripheral has an internal 4 bytes Receive buffer. Activating the Rx interrupt virtually extend this buffer to the desired size. The complete buffer size is the sum of the Rx interrupt buffer size plus the UART buffer size (4).
The Rx interrupt can take place :
*When the UART Peripheral Receive buffer is full (contains 4 bytes)
*When the UART Peripheral Receive buffer is 3/4 full (contains 3 bytes)
*When the UART Peripheral Receive buffer contain 1 byte (receive 1 byte)

===Rx Interrupt Priority===
Priority of the interrupt (1 is the lowest priority, 7 is the highest)

===Rx Interrupt buffer size===
Size of the circular buffer used by the interrupt. The total buffer size for the UART Rx peripheral is then the Rx Interrupt buffer size plus the 4 bytes internal peripheral buffer.

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