SynDEx v7 Tutorial
Contents
1. Durations Edit code phases Edition of the associated source code Figure 1 5 Contextual menu Add port Create Port lint o ok syntax help Cancel Figure 1 6 Create Port 10 Definition list Sege Double click to open 9 6 Drag and drop to reference Sensor input Up In Main Main History S x Definition Properties Name input lt l A Description Parameters ES AN Figure 1 7 Sensor definition window after output port created click OK cf figure I 3 It creates the definition of the input sensor To open it in definition mode double click on input in the Definition list cf figure 1 4 e in input definition mode right click on the background and select Add port cf figure 1 5 It opens a dialog window for the port s direction type name and optionally its size For example type int o then click OK cf figure I 6 It creates the integer output port o cf figure I 7 in the sensor definition window 1 1 2 Definition of an actuator To create an output actuator definition e from the algorithm window click on the green button dialog window check Actuator then type output and click OK e double click on output in the Definition list Then right click on its background and select Add port gt dialog window int i Click OK It creates the integer input port i in the sensor definition window 1 1 3 Defini2. e create the TCP medium set the type with SAM MultiPoint set the durations with float 1 e modify the U operator set the gates with TCP x and TCP y e create the biProc architecture add one U operator named root and define it as main operator add one U operator named pci add one TCP medium named tcp1 and choose the Broadcast option links the medium to the x gates of the operators define the biProc architecture as main The adequation and the code generation First launch the adequation It modifies example8 sdc and example8 sdx files Then generate the executive and applicative files setting Code Generate m4x Files It creates examples m4 example8 m4x example8_sdc m4x root m4 and pcl m4 files Finally handwrite the example m4x file as explained in 8 4 6 The compilation First generate manually the GNUmakefile the example8 m4m and the root m4x files e the GNUmakefile has to be created as explained in Upgrade it so that the line S A mk A m4 syndex m4m U m4m is changed by 64 S A mk A m4 syndex m4m U m4m A m4m e create the example m4m file with this line define pcl_hostname_ HOSTNAME dnl where HOSTNAME is sub stituted with the name of your remote station e create the root m4x file with this line include example8 m4m Then copy paste the ref_vitesse txt file from the Example 8 folder to yours Then type the command gmake in a shell c
3. Figure 8 6 An integral discretized in SynDEx Create the integrale_discrete_sup algorithm cf figure 8 6 Notice that pas is of type gain_def with param eter GAIN equal to 0 001 sommateur is of type sommateur2_def and retard is of type float delay lt 0 1 gt The car dynamics are given with Scicos block diagrams in the figure and with SynDEx operations in the figure where the input 1 ref is the acceleration of the car The first integral gives the speed of the car and the second its position Create the mecanique_sup algorithm cf figure 8 8 Notice that puissancemoteur is of type gain_def with parameter GAIN equal to 1 whereas integralel and integrale2 are of type integrale_discrete_sup 55 Puissance moteur Position D gt H D Ils Vitesse t Figure 8 7 Car dynamics with Scicos block diagrams continous time Figure 8 8 Car dynamics with SynDEx operations 8 4 2 The cars and their controllers In the following diagrams from 8 9 to 8 12 the blocks operations denoted by meca are the car dynamics Let us get the controllers of the two cars Create the voiturel_sup and voiture2_sup algorithms cf figures and 8 12 Notice that mecal and meca2 are references to mecanique_sup whereas controll resp contro12 is a reference to controleurl_sup resp controleur2_sup 8 4 3 The main algorithm Create the following definitions definit ionName lt PARAM gt e senseur_def lt POSI_ARRAY gt wit
4. Name AlgorithmMa Description Parameters Values H Figure 1 9 Drag and drop input definition 12 Create Reference to input at Function AlgorithmMain int in syntax help ok Cancel Figure 1 10 Create References to input Figure 1 11 Main algorithm after references to sensor created Figure 1 12 Main algorithm of the Example 1 e from the algorithm window click on the green button dialog window check Function then type AlgorithmMain and click OK e double click on AlgorithmMain in the Definition list Then right click on its background and select Set As Main Definition cf figure 1 8 e inits definition mode to create references to the sensor input drag and drop the sensor definition from the Definition list to the AlgorithmMain definition window cf figure 1 9 dialog window inl in2 cf figure L 10 The main algorithm looks like the figure to create references to the actuator output drag and drop the actuator definition from the Definition list to the AlgorithmMain definition window dialog window out out out3 to create a reference to the function computation drag and drop its definition dialog window calc from the AlgorithmMain definition window to create a data dependence between in1 and calc point the cursor on the output port o of the in1 operation middle click and drag to the input port a of the calc operation I
5. Figure 1 15 Edit Reference Operator Figure 1 16 Architecture with one operator 15 1 2 2 Definition of the main architecture To create an ArchiOneOperator architecture definition e from the principal window Architecture Define Architecture cf figure 1 14 dialog window type ArchiOneOperator then click OK definition window e from the ArchiOneOperator definition window to create a reference to the operator Uinout Edit Reference Operator cf figure 1 15 dialog window click user double click Uinout dialog window u1 to define the operator as main right click on its reference and select Set As Main Operator The architecture looks like the figure 1 3 An architecture with a SAM point to point comunication medium 1 3 1 Definition of operators To create Uin and Uout definitions e from the principal window Architecture Define Operator dialog window Uin click OK definition window e from the Uin definition window click Modify gates dialog window MediumSamPointToPoint x MediumSamMultiPoint y MediumRam z click Modify durations dialog window computation 2 input 2 output 5 e from the principal window Architecture Define Operator dialog window Uout click OK defini tion window e from the Gout definition window click Modify gates dialog window MediumSamPointToPoint x MediumSamMultiPoint y MediumRam z cl
6. then ul and the Create button to constrain the operation group og1 on the operator u1 constrain the operation group og2 on the operator u2 constrain the operation group og3 on the operator u3 x click on OK button cf figure 1 23 File Options Algorithm Architecture Constraints Adequation Code Help New Algorithm Window Ctri N A Define Operation Group Delete Operation Group D D d Figure 1 22 Define Operation Group Absolute Constraints og A ju og3 u3 A og2 w og2 u2 og3 Ou ogl ul Create Remove d d Ok Cancel Figure 1 23 Constrain operation groups on operators of the architecture selected e in the main mode Main button select the operation ini click on the Group button of its Reference Properties then select og1 cf figure 1 24 attach the operation in2 to the operation group og2 attach the operation out1 to the operation group og1 20 Algorithmhain main Up In Main Main History Definition list Double click to open lelle Drag and drop to reference RL el Reference Properties Figure 1 24 Attach a reference to an operation group attach the operation out2 to the operation group og2 attach the operation out3 to the operation group og3 attach the operation calc to the operation group 0g3 The algorithm with constraints looks like the figure e from the principal win
7. Description Durations Edit code phases Edition of the associated source code Figure 5 1 Create Condition Gees Figure 5 2 Condition x 1 36 xN x NAxx ee eil BE ec Figure 5 3 Condition x 2 LENEAN EEE f A gt Figure 5 4 Condition x 3 37 at ke Figure 5 5 Condition x 4 a Figure 5 6 AlgorithmMain1 of the Example 5 38 5 2 An algorithm with nested condition 5 2 1 Sensors x and i actuator o Use previous definitions cf 5 1 1 5 2 2 Function switch2 To create the switch2 function e from the algorithm window green button dialog window switch2 e in its definition window contextual menu Add port dialog window int x int y int o contextual menu Create Condition dialog window y 1 y 2 click on the condition y 1 cf figure 5 7 and create the function mu11 lt 1 gt of the definition Arit_mul from int library y 1 Figure 5 7 Condition y 1 click on the condition y 2 cf figure 5 8 and create a reference switch1 to the definition switch1 e create dependences between the references 5 2 3 Algorithm AlgorithmMain2 The algorithm looks like the figure From the principal window choose File Close In the dialog window click on the Save button 39 TA Figure 5 8 Condition y 2 Figure 5 9 AlgorithmMain2 of the Example 5 40 Chapter 6 Example 6 algorith
8. as it has been shown in Examples 6 and 7 SynDEx generates the code necessary to the communication between the processors 8 2 The model We consider a system of two cars The second car gt follows the car O trying to maintain the distance while the acceleration and the deceleration of CO We call x t the position of the first car x2 t the position of the second car plus x t and x2 t the speeds of two cars We denote E and kz the inverse of the car masses We call r t the reference speed chosen by the first driver We suppose that we are able to observe the speed of the first car and the distance between the cars We have the following fourth order four degrees of liberty system xi kiui X2 kauz 8 1 yi X y2 X x2 We will decompose the system into mono input mono output system S4 u1 y1 and S2 u2 y2 Denoting by uppercase letter the Laplace transform of the variables we have Y k1U1 s and Yz k1U1 k2U2 s where U1 is seen as a perturbation that we want reject in the second system A first proportional feedback U p R Y1 will insure the first car to follow the reference speed The second controller will be proportional derivative U2 p2Y2 P3sY2 in fact we will suppose in the following diagram that the derivative of y2 is also observed The coefficient p is obtained by placing the pole of the first loop Y pikiR s pik1 TESS 51 The coefficient p2 and p3 are obtained by
9. as main Finally we create in the main algorithm two references to the sensor definition three references to the actuator definition and one reference to the function definition and we create data dependences between these references by connecting their ports e we create four different architectures an architecture with one operator an architecture with two operators and a SAM point to point communication medium an architecture with three operators and a SAM multipoint communication medium an architecture with three operators and a RAM communication medium e we create constraints on the third architecture e we perform the adequation of the main algorithm onto the third architecture defined as main without con straint and then with constraints Example 2 Hierarchy in algorithm e we create a function definition and a constant Inside the function we create a reference to another function in that way this definition is defined by hierarchy Then we create a third function that references both previous ones Finally we create an algorithm that references the third function and define it as main In that way the main algorithm references a hierarchical function e we create parameters names for an operation and assign values to these parameters Example 3 Delay in algorithm e we create a delay definition e we create a main algorithm by referencing a delay a sensor an actuator and a function and by connecting
10. diagram the system is stable plots do not grow exponentially and so it works We do not continue to ameliorate the controllers job 1 50 Figure 8 14 Scope window obtained with the values 0 5 0 0 5 for gains of the C controller and 4 4 4 4 for the C controller 8 6 SynDEx simulation 8 6 1 In the case of a mono processor architecture The architecture In this subsection we suppose that the architecture is constituted of an only operator named root 62 e create the U operator set the durations with float delay 1 gain_def 1 scope_def 1 senseur_def 2 sommateur2_def 2 sommateur4_def sommateur5_def vitesse_def 1 Wool D K choose init as code generation phase in which to generate code e create the mono architecture add one U operator named root and define it as main operator define the mono architecture as main The adequation and the code generation First launch the adequation It modifies example8 sdc and example sdx files Then generate the executive and applicative files setting Code Generate m4x Files It creates example8 m4 example8 m4x example8_sdc m4x and root m4 files Finally handwrite the example8 m4x file as explained in 8 4 6 The compilation First generate manually a GNUmakefile containing A examples M4 gm4 export ArchiMacros_Path macros archi_libraries export Al
11. for the u operator int input 1 Implode_int compute 2 int output 1 1 9 4 2 Adequation Window Edit Implade_compute inpute1 Wait Implode_compute Figure 9 3 A multi phase schedule Launch the adequation Adequation Launch Adequation Display the schedule Adequation Display Schedule The computed schedule has two phases a transitory phase red and a permanent phase green cf figure 9 3 Transitory phase The transitory phase is executed only once It contains the first occurrence of the input 1 operation the first occurrence of the input 2 operation the first occurrence of the Implode_compute operation and the first occurrence of the compute operation The compute operation provide data consumed by the output operation schedule at time 9 in the permanent phase Permanent phase The permanent phase is the one that is executed infinitely It contains the second occurrence of the input 1 operation and its following occurrences It contains the first occurrence of the output operation and its following occurrences 69
12. mode create a reference s_input to the scalar ins create a reference v_input lt N gt to the vector inv create a reference mul to the function mul and type N in the Repeat textfield of its Reference Properties it is repeated N times create a reference v_output lt N gt to the vector outv e create dependences between the references in order to obtain the main algorithm cf figure 4 2 e type N in the Parameters textfield of the Definition Properties of the main algorithm and 3 in the Values textfield cf figure 4 1 Notice that this value is keeped as long as the algorithm remains the main one Definition Properties Name Algorithmma Description First algorithi Parameters H vaues 3 Figure 4 1 Parameters Values The repetition consists in multiplying each of the 3 elements of the v_input vector with the s_input scalar and placing the result in the 3 elements v_output vector The parameter N is here the repetition factor of the mul function Figure 4 2 AlgorithmMain1 of the Example 4 4 2 An algorithm with repetition with the int library In this section we create a multiplication function of a vector by a scalar by using the int library 29 4 2 1 Inclusion of the library int From the principal window choose File Specify Library Directories and add the SYNDEXPATH libs where SYNDEXPATH is the absolute path of the SynDEx distribution From the principal window choose File Included Libr
13. o To create the sensors and the actuator e from the algorithm window green button dialog window Sensor x e from the algorithm window green button dialog window Sensor i e from the algorithm window green button dialog window Actuator o 5 1 2 Function switch1 To create the switch1 function e from the algorithm window green button dialog window switch1 e inthe switch1 definition window contextual menu Add port dialog window int x int i int o contextual menu Create Condition dialog window x 1 x 2 x 3 x 4 ef figure 5 1 Click on the condition x 1 cf figure 5 2 and create a reference divl lt 1 gt to the definition int Arit_div click on the condition x 2 cf figure and create a reference div2 lt 1 gt to the definition int Arit_div click on the condition x 3 cf figure 5 4 and connect the port i to the port o click on the condition x 4 cf figure and create a reference mul4 lt 1 gt to the definition int Arit_mul create dependences between the references 5 1 3 Algorithm AlgorithmMainl The algorithm looks like the figure 35 Undo Add ports Ctri zZ Redo Ctri Shift Z Copy Ctri C Cut Ont Paste Ctri Y Delete Delete Extract as superblock Activate Info Bubbles Postscript Create Condition Delete Condition Add dependence D Add port Add reference Set As Main Definition Ports Order
14. port number may change by inserting or removing a port or parameter following the SynDEx s rule of port numeration For example after inserting a parameter P in the function conv 1 will not refer to the input port i but it will refer to the new added parameter P All numbers are now brought thus we must modify the code and replace the arguments 1 by 2 and 2 by 3 this task is quite repetitive when an application contains many operations it is easy to make a mistake in the m4 syntax Great knowledges in m4 syntax two different kind of quotes ifelse and SynDEx m4 macros MGC are required It should be more convenient to write OUT o 0 IN i 0 PARAM P and let SynDEx interpret it and generate the associated m4x file than to write the specification with the m4 syntax SynDEx version gt 7 0 0 is able to do that thanks the code editor which is a tool integrated in the graphical user interface GUI In the following example we will show how to use this tool 7 1 1 To add parameters to an already defined operation In this example we show how to modify some functions by adding parameters in order to expand parameters into m4 arguments Open the example6 sdx application e from the principal window choose File Open Open the example6 sdx file e save it as example7 sdx under a new folder of your tutorial folder e g my_example7 45 Add parameters to the conv function e open the conv definition and add
15. the following code Hi I am 0 function in init phase for C40 processor in the code editor window click on the loop phase button and write in the text area the following code OUT out 0 IN in 0 Hi I am 0 function in loop phase for C40 processor in the code editor window click on the end phase button and write in the text area the following code Bye I am 0 function in end phase for C40 processor e Insert code for U processor type to the bar function in the code editor window Type of Processor Select U in the code editor window click on the init phase button and write in the text area the following code Hi I am 0 function in init phase for U processor in the code editor window click on the loop phase button and write in the text area the following code OUT out 0 IN in 0 42 Hi I am 0 function in loop phase for U processor in the code editor window click on the end phase button and write in the text area the following code Bye I am 0 function in end phase for U processor e Modify the durations Add c40 c40 1 at the end of the Durations text area for each definition referenced in algo2 48 Learn the macros of the code editor The code editor comes with a set of predefined macros that alleviate the user from knowing the black magic of m4 processing The more useful ones are names translation macros These ma
16. 2 0 IN in_3 0 IN in_4 0 IN in_5 0 8 4 The complete model In a real application our job stops with the SynDEx s adequation of the two controllers on their associated archi tectures Nevertheless for pedagogic reasons we will simulate the whole system with the dynamics of the cars in the aim to verify that our application does the same job that Scicos 54 8 4 1 The car dynamics SynDEXx is only used in discrete time model not continuous time and is not able to manage implicit algebraic loop That is in SynDEx any loop contains at least a delay 1 z Therefore our application which is a continuous time dynamic system described in Scicos must be discretized in time to be used in SynDEx The differential equation x u is discretized using the simplest way the Euler scheme Let us denote by h the step of the discretization and xg an arbitrary initial value the discretized system can be written as Xn 1 Xn uh 8 2 Finally the system is given in Scicos in the figure 8 5 and 8 2 is given in SynDEx in the figure 8 6 Notice that the variable h is stored in the Scicos context and used in the input of the gain and the clock definition In SynDEx h is defined as parameter in the definition of a gain and the clock definition is directly used in the source code associated with operations Horloge Pas de discretisation i mies ch Figure 8 5 An integral discretized in Scicos Ge in_2 A
17. DA PANAL EEN 8 4 6 To handwrite the example8 m4x file You will not can use directly the SynDEx s generated example8 m4x generic file because both the creation of local variable and the call of libraries is missing After the code generation you will must handwrite it to obtain the following code define dnidni define NOTRACEDEF define NBITERATIONS 20000 define BINPWD pwd define RSHELL ssh define proc init 61 FILE fd_array 10 float data int timer include example8_sdc m4x divert divert 1 divert dnl Where the macro proc_init_ allows the local variable declaration to be declared because it inserts its source code between the main function and the operations initialization Notice that the main loop of the program is defined generically with a loop of NBITERATIONS where NBITERATIONS is initialized with the size of the input file ref_vitesse txt Finally the call of libraries is inserted after the include of the example8_sdc m4x file 8 5 Scicos simulation Scicos software allows to simulate models in a window cf figure 8 14 where the values of three states are plotted ordinate axle according to the time abscissa axle We have e the square wave generator drawn at the bottom red e the speed of the first car at the top black e the distance between the two cars seen in the middle of the figure green Thanks the
18. Set the periods to 4 for input 8 for compute and 8 for output by selecting each reference and filling the Period field 9 2 The main architecture Open the architecture monoProc from the library u Define it as main The durations for the U operator are by default int input 3 Implode_int 1 compute 1 int output 3 67 Implode_int is an internal operation automatically generated by SynDEXx to collect the different data produced by the different occurences of the int input operation In this case the system is not schedulable 9 3 A mono phase schedule 9 3 1 Durations Modify the durations for the u operator int input 1 Implode_int compute 1 int output 1 1 9 3 2 Adequation Window Edit root E A Figure 9 2 A mono phase schedule Launch the adequation Adequation Launch Adequation Display the schedule Adequation Display Schedule cf figure 9 2 Wait operation Notice the new operation added by SynDEx Wait to respect the period of the input operations Multiple occurrences Notice that because of the periods during a cycle two input operations are executed input 1 and input 2 whereas only one compute and one output operations are executed Implode operation Notice the new operation added by SynDEx Implode_compute to provide the data from the input operations to the compute one 68 9 4 A multi phase schedule 9 4 1 Durations Modify the durations
19. SynDEx v7 Tutorial Nicolas Dos Santos Christophe Gensoul Kim Hwa Khoo Christophe Macabiau Quentin Quadrat Daniel de Rauglaudre Yves Sorel C cile Stentzel December 16 2013 Contents Introductio 1 Example 1 algorithm architecture and adequatio 1 1 Themainalgorithm 0 00 02 2000 008 1 1 1 Definitionofasensoy 00 1 2 1 Definition of anoperato 020 eee es eee 1 3 1 Definition of operator sa Se eats EE isk ty Deed ECKE 1 6 1 Without constrain 1 6 2 Withconstraints e 2 Example 2 parameters and hierarchy in algorith 2 1 Definition of the function A 004 2 2 Definition of the function H e o a e e e 2 3 Definition of the algorithm with hierarchy 3 1 Definition of the operations input output and calg ei E kee ee 4 Example 4 repetition and library in algorith 4 1 An algorithm with repetition without any library 4 1 1 Definition of the scalar ins and the function mul on scalar 4 1 2 Definition of the vectors inv and outy 4 1 3 Definition of the algorithm AlgorithmMainl 4 2 An algorithm with repetition with the int library 4 2 1 Inclusion of the library Zu 4 2 2 Definition of the algorithm AlgorithmMain2 4 3__An algorithm with repetition with the float libra
20. Type_ processorType ifelse MGC INIT printf Init phase of function 0 for default processor n MGC LOOP 5 0 3 0 2 1 printf Loop phase of function 0 for default processor i n 4 0 MGC END printf End phase of function 0 for default processor n If the example7 m4x file did not exist at code generation time then it will contain the following code divert 1 c INRIA 2001 2009 divert 0 define dnldnl rr define NOTRACEDEF define NBITERATIONS 5 include example7_sdc m4x divert include lt stdio h gt for printf divert 1 divert dnl Deeper insights about the m4 macro language can be found in SynDEx user manual and GNU M4 manual e See the difference between executable codes create the example7 m4m file cf 6 3 create the root m4x file cf 6 3 create the GNUmakefile cf 6 3 containing S A mk A m4 syndex m4m U m4m C40 m4m A m4m M4 lt gt define algo2 as main algorithm define archi as main architecture perform the adequation generate the code and run the GNUmakefile compilation You obtain a root c file containing U code only no C40 code define archi2 as main architecture perform the adequation generate the code and compile again This time only C40 code is present in the root c file Notice that e adequation modifies original files exa
21. aries int cf figure 4 3 Pie Options Algorithm Architecture Constraints Adequation Code Help Open Ctri O A Save Ctri S Save as Close Included Libraries F pool Specify Library Directories M c40 Quit oo file F float N int I transtech Fu Ha Figure 4 3 File Included Libraries int 4 2 2 Definition of the algorithm AlgorithmMain2 Notice that this library contains input mul and output definitions parameterized with length We will need to set it to 1 for the scalar and the multiplication function and to N for the vectors e from the algorithm window create the function definition AlgorithmMain2 and define it as main e in AlgorithmMain2 definition mode drag and drop the sensor definition int input from the Definition list to the AlgorithmMain2 window dialog window s_input lt 1 gt cf figure 4 4 it is a scalar Create Reference to input at Function AlgonthmMain2 Le Input j E syntax help OK Cancel Figure 4 4 Create Reference to int input drag and drop the sensor definition int input dialog window v input lt N gt it has N elements drag and drop the function definition int Arit mul dialog window mu1 lt 1 gt then type H in the Repeat textfield of its Reference Properties it is a multiplication on scalars repeated N times drag and drop the actuator definition int output dialog window v output lt N gt it ha
22. cros translate port and parameter names to their internal representation as m4 parameters We have already encountered such macros in what we have just done QIN GOUT and INOUT are port name translation macros and PARAM is the parameter name translation macro As a rule of thumb you should use PARAM x when you want to refer to a parameter x and QIN i resp OUT o INOUT io when you refer to an input port i resp output port o input output port io The code editor recognizes three more macros NAME QUOTE and TEXT These advanced macros are not used in this tutorial and the reader is refered to SynDEx user manual to learn more about it 7 1 3 To generate m4x files Before performing the code generation we have to perform the adequation e from the principal window choose Adequation Launch Adequation e from the principal window choose Code Select Generate m4x Files e from the principal window choose Code Generate Executive s e from the principal window choose Code Display Executive s Two cases are possible e the check box Generate m4x Files has not been checked For each operator of the main architecture a processor name m 4 file containing m4 macro code is produced As previously explained an architecture description file named example7 m4 is also produced e the check box Generate mis Files has been checked Then two new files example7 m4x and example7_sdc m4x are generated in the same folder as th
23. cule2 reference attach meca2 to it create the og_cont2 operation group from the main mode in the vehicule2 reference attach contro12 to it e create absolute constraints constrain og_root on root constrain og_cont1 on cont1 constrain og_cont2 on cont2 constrain og_dynal on dynal constrain og_dyna2 on dyna2 The adequation and the code generation First launch the adequation It modifies example8 sdc and example8 sdx files Then generate the executive and applicative files setting Code Generate m4x Files It creates examples m4 example8 m4x example8_sdc m4x root m4 cont1 m4 cont2 m4 dynal m4 and dyna2 m 4 files Finally handwrite the example m4x file as explained in 8 4 6 The compilation First generate manually the Makefile ocaml the example8 m4m the root m4x the cont1 m4x the cont2 m4x the dynal m4x and the dyna2 m4x files e copy paste the Makefile ocaml from the Example 8 folder to yours e create the example8 m4m file with these lines define contl_hostname_ HOSTNAME dnl define cont2_hostname_ HOSTNAME dnl define dynal_hostname_ HOSTNAME dnl define dyna2_hostname_ HOSTNAME dnl where HOSTNAME is substituted with the name of your remote station e create the root m4x cont1 m4x cont2 m4x dynal m4x and dyna2 m4x files with this line include example8 m4m Then copy paste some files from the Example 8 folder to yours e copy paste the exampl
24. der your tutorial folder with the name example4 4 1 An algorithm with repetition without any library In this section we create a multiplication function of a N elements vector by a scalar by repeating N times a multiplication function on scalars 4 1 1 Definition of the scalar ins and the function mui on scalars In a new algorithm window e create a new sensor definition named ins with an integer output port o e create a new function definition named mul with two integer input ports a and b and an integer ouput port o 4 1 2 Definition of the vectors inv and outv To create the vectors e to create the definition inv from the algorithm window create a new sensor definition named inv from the inv definition window type N in the Parameters textfield of its Definition Properties it has N elements create its integer output port named o with length N int N o e tocreate the definition outv from the algorithm window create a new actuator definition outv in outv definition window type N in the Parameters textfield of its Definition Properties it has N elements create its integer input port named i with length N int N i 28 4 1 3 Definition of the algorithm aigorithmmain1 To create the AlgorithmMain1 algorithm e from the algorithm window create a new function definition named AlgorithmMain1 and from its definition window define it as main e in the AlgorithmMain1 definition
25. dow to perform the adequation with constraints Adequation Launch Adequation then Adequation Display Schedule schedule window The schedule looks like the figure From the principal window choose File Close In the dialog window click on the Save button 21 Figure 1 25 Algorithm with constraints netmapr Figure 1 26 Schedule with constraints 22 Chapter 2 Example 2 parameters and hierarchy in algorithm From the principal window choose File Save as and save your second application under your tutorial folder with the name example2 2 1 Definition of the function a To create the A function definition e from the algorithm window click on the green button dialog window check Function then type A and click OK click on the green button dialog window check Constant then type constante lt x gt and click OK Create an integer output port o inside e in the A definition window create a reference cst lt T gt to the definition constante create an integer input port a an integer output port o Contextual menu Add port cf L 1 3 e from the algorithm window create a function definition calcul1 with two integer input ports a and b and an integer output port o e in the A definition window create a reference calci to the definition calcull add a parameter name cf figure 2 1 Field Parameters T The function A looks like the figure 2 2 Defin
26. dp This function is a multiplication function on vectors with an accumulator create a new function definition named dp add it a parameter dpaccn create a reference zero lt 0 gt to the constant float cst it is the 0 scalar create a reference dpacc to the function dpacc then type dpaccn in the Repeat textfield of its Reference Properties it is repeated dpaccn times add it two input ports float dpaccn vl float dpaccn v2 and one output port float dp vec tors have dpaccn elements create dependences to obtain an algorithm cf figure 4 7 To build the dependence between the output port acc Of dpacc and its input port acc choose Iterate on the dialog window it is the connection between two successive calls of the function Figure 4 7 Algorithm of the function dp 32 The repetition consists in multiplying two dpaccn elements vectors by calling dpaccn times the dpacc multi plication function on scalars with accumulator The initial value of its accumulator is given by the zero constant and the following are given by the accumulator itself 4 3 4 Definition of the function prodmatvec This function is a multiplication function of a matrix by a vector create a new function definition named prodmatvec type a b in the Parameters textfield of its Definition Properties create a reference dotprod lt b gt to the function dp input vectors have b elements and type a in the Repeat textfield of its Reference Pr
27. e a medium definition MediumRam of type RAM with durations float 2 int 2 uchar 1 ushort 1 18 and create a reference medium_ram in the main architecture e define the operator u1 as main e connect the operators ports z to the medium Figure 1 20 Architecture with three operators and a RAM comunication medium The architecture looks like the figure L 20 1 6 The adequation 1 6 1 Without constraint Define the architecture with three operators and a medium of type SAM MultiPoint cf as main architecture Edit Set As Main Architecture From the principal window choose Adequation Launch Adequation then choose Adequation Display schedule It opens the schedule window cf figure ZU in which you can see the schedule of the algorithm on the architecture and the schedule of the different inter operator communications on the medium Window Edit TNI medium_sammp u3 u2 ul H A 2 Send_u2_u3 in2 o 4 4 Send_u2_ui in2 o 6 Figure 1 21 Schedule 1 6 2 With constraints To contraint the ArchiSamMultiPoint architecture e from the principal window to create the constraints 19 Algorithm Define Operation Group cf figure 1 22 dialog window oo og 093 Constraints Absolute Constraints dialog window select ArchiSamMultiPoint It opens a dialog window in which you can create constraints on the different operators of the architecture selected first click on og1
28. e application These two files constitute the Applicative kernel e the MyApplication_sdc m4x file contains all m4 macro code associated with operations used in the SynDEx application Each time code generation is triggered this file is overwritten e the MyApplication m4x file is an user editable file whose goal is to allow the user to complete the applicative kernel if needed At code generation time if this file does not exist then SynDEx creates a generic file including the MyApplication_sdc m4x file plus some other features otherwise the existing file is kept The example7_sdc m4x file contains the following code divert 1 c INRIA 2001 2009 divert 0 define example7_bar bar define bar ifelse processorType_ C40 ifelse MGC INIT Hi I am 0 function in init phase for C40 processor MGC LOOP 2 0 1 0 Hi I am 0 function in loop phase for C40 processor SITT MGC END Bye I am 0 function in end phase for C40 processor processorType_ U ifelse MGC INIT Hi I am 0 function in init phase for U processor MGC LOOP 2 0 1 0 42 Hi I am 0 function in loop phase for U processor MGC END Bye I am 0 function in end phase for U processor define example7_conv conv 49 define conv ifelse processor
29. ekea EE e RAR ERS e E BR be Se eas 8 4 2 The cars and theircontrollerg 2 e e e EE EE Jo To handwrite the example8 m4x De ook oe oe ee be debe eed see ee as ey ee ee ed oe oes a ee eRe 8 6 1 In the case of amono processor architecture e 8 6 2 In the case of a bi processor architecturg 2 a e a 8 6 3 _In the case of a multi processor architecture 9 Example 9 a multiperiodic applicatio 9 1 The main algorithmi oaa ee 9 2 The main architecture e 9 3 A mono phase schedule CO 942 demand xs ea s cerak NEE NEE BSE E e SA Introduction This tutorial respects some writing conventions e menus buttons etc are written in bold e g Algorithm New Algorithm Window OK Definition list e command lines SynDEx files examples etc are written in Computer Modern e g libs libs examples tutorial int o To create an application workspace launch SynDEx with option libs libs See the SynDEx v7 User Man ual for more information The examples presented in this tutorial are located in the sub folder examples tutorial Each example is lo cated in its sub folder The example 7 is located in the examples tutorial example7 examples tutorial example7_mono and examples tutorial example7_bi folders Example 1 Algorithm architecture and adequation e we create a sensor definition an actuator definition and a function definition Then we create an algorithm and define it
30. en saved Open the code editor of the vitesse_def actuator and write the following code in the init phase of the default processor fd_array PARAM POSI_ARRAY fopen actuator_ TEXT PARAM POSI_ARRAY w assert fd_array PARAM POSI_ARRAY NULL The loop phase allows to save the values fprintf fd_array PARAM POSI_ARRAY SE n IN in_1 0 We need to free the memory by closing the file Write the following code in the end phase fclose fd_array PARAM POSI_ARRAY 59 Distance output Contrary to the first type of output this output has two input ports but the init and end source codes are identical The loop phase differs Open the code editor of the scope_def actuator and write the following code in the init phase of the default processor fprintf fd_array PARAM POSI_ARRAY SE n IN in_1 0 IN in_2 0 8 4 5 The example8_sdc m4x SynDEx s code generation will create the example8_sdc m4x file as explained in Example 7 define example8_algomain algomain define algomain ifelse processorType_ processorType ifelse MGC SINET pO MGC LOOP WARNING empty code for macro 0 in loop phase MGC MEND PE Ee define example8_controleurl_sup controleurl _sup define controleurl_sup ifelse processorType_ processorType ifelse MGC SINT Ep Oe MGC LOOP WARNING empty code for mac
31. es m1 file e copy paste the pa_example8 ml file e copy paste the root ab contl sh cont2 sh dynal sh and dyna2 sh files e copy paste the ref_vitesse txt file You will probably need to install camlp5 see at http pauillac inria fr ddr camlp5 Then type the command make f Makefile ocaml ina shell commands interpreter It creates example8 cmi example8 o pa_example8 cmi and lt processor gt cmi lt processor gt cmx lt processor gt o lt processor gt opt for each processor Finally launch separatly the five script files At the end of their execution the actuator_1 and actuator 2 files are created e the actuator _l file contains the speed of the first car e the actuator_2 file contains the distance between the cars From the principal window choose File Close In the dialog window click on the Save button 66 Chapter 9 Example 9 a multiperiodic application From the principal window choose File Save as and save your ninth application under a new folder of yout tutorial folder e g my_example9 with the name example9 9 1 The main algorithm Figure 9 1 Main algorithm of the Example 9 Create the main algorithm basicAlgorithm cf figure 9 1 using the library int for the operations input lt 1 gt int input and output lt 1 gt int output For the operation compute create a function definition compute and create a reference to this definition Create the dependences between the references
32. except the main operator the name of a workstation corresponding to this operator The file looks like dnl ei INRIA 2001 2009 define Pl_ hostname_ HOSTNAME dnl where HOSTNAME is the name of the remote workstation as indicated in the Readme file under syndex examples tutorial example6 42 Warning the characters and are different Warning if you increase the number of processors in your architecture you must add other define state an e ments with the corresponding processor name remote worksation name association e create a new file root m4x for the main operator including the file example6 m4m dnl ei INRIA 2001 2009 include example6 m4m e create a new file GNUmakefile which allows the compilation and the substitution of the macros from the code generation by the executable code The file looks like c INRIA 2001 2009 A example6 M4 m4 export SynDEx_Path SYNDEXPATH export AlgoMacros_Path SynDEx Path macros algo_libraries export Archi Macros_Path SynDEx_ Path macros archi_libraries export M4PATH Algo_Macros_Path Archi_Macros_Path CFLAGS DDEBUG VPATH M4PATH PHONY all clean all A mk A run clean S RM A mk S A mk S A m4 syndex m4m U m4m A m4m M4 lt gt root libs Pl libs include A mk where SYNDEXPATH is the absolute path of the SynDEx distribution Warning in the previous makefile the state
33. generation you have to perform the adequation Set the possibly missing durations then from the principal window Adequation Launch Adequation e from the principal window Code Generate Executive s It generates for each operator of the main architecture the code in a file files root md and P1 m4 and an architecture description file example m4 These files are generated in the same folder as the application The files generated for each processor may be viewed Code Display Executive s e the macros corresponding to the operations included in the libraries of SynDEx are already defined under the folder macros files int m4x U m4x and TCP m4x e in the same folder as the SynDEx application of the Example 6 create a new file example6 m4x in which you define the macro corresponding to the operation conv which is the only one not defined in the library and the number of iterations The file looks like dnl ei INRIA 2001 2009 dnl SynDEx v7 executive macros specific to application tutorial example6 example6 divert 1 define NOTRACEDEF define NBITERATIONS 3 define BINPWD pwd define RSHELL ssh define conv ifelse MGC INIT dnl MGC LOOP 2 0 1 0 1 MGC END dnl divert divert 1 divert dn nd of file 74 4224 e create a new file example6 m4m in which you set for each operator
34. goMacros_Path macros algo_libraries export M4PATH ArchiMacros_Path AlgoMacros_Path CFLAGS DDEBUG VPATH M4PATH PHONY all clean all A mk A run clean RM A mk 0 a c actuator_ S A mk S A m4 syndex m4m U m4m M4 lt gt root libs Pl libs include A mk Where 63 e Ais set with the name of your application here example e the path about the generic m4 macro files are stored in the exported shell variables ArchiMacros_Path and AlgoMacros_Path then grouped into a new exported shell variable named m4PaTH The separator means that a m4 macro file will be search first in ArchiMacros_Path and then in AlgoMacros_Path if is not found e a mix of this makefile and the informations stored in file named example8 m4m will create another makefile called examples mk during the compilation Then copy paste the ref_vitesse txt file from the Example 8 folder to yours Then type the command gmake in a shell commands interpreter It creates actuator_1 actuator_2 example8 mk root root c and root root o files e the actuator _l file contains the speed of the first car e the actuator_2 file contains the distance between the cars 8 6 2 In the case of a bi processor architecture The architecture In this subsection we suppose that the architecture is constituted of two operators named root and pc of type U and linked with a medium tcp1 of type TCP
35. h one output port out_1 e vitesse_def lt POSI_ARRAY gt with one input port in_1 e scope_def lt POSI_ARRAY gt with two input ports in_1 and in_2 Then create algomain Create the reference speed ref_vit of definition senseur_def lt 0 gt the reference vitesse x of definition vitesse_def lt 1 gt the reference distance between the two cars of definition scope_def lt 2 gt the reference vehiculel of definition voiturel_sup and the reference vehicule2 of definition voiture2_sup connect them according to the figure 8 13 8 4 4 Source code associated with the sensor and the actuator We associate C source code to each function definition input and two kinds of output 56 x2 D L M iquel Ke BAA eee ref vit xl vl Figure 8 9 Scicos C car dynamics and its controller mx fres iny1 out inx2 joutyt inva refvit Figure 8 10 SynDEx voiturel_sup car dynamics and its controller Y Ep gt Controleur2 een x2 v2 Figure 8 11 Scicos C car dynamics and its controller 57 Figure 8 12 SynDEx voiture2_sup car dynamics and its controller ref S inx2 hovel Figure 8 13 Main algorithm 58 Input In our Scicos application an input is a square wave generator As a rule we will simulate a square wave generator by reading values in a text file named ref_vitesse txt We will use the fopen the fclose and the fscanf functions stdio h library We will also use assertions assert h l
36. ibrary to ensure that the opening of a file has been successful For the moment let suppose that it exists an array of FILE the structure returned by the fopen function called fd_array and a variable called timer to simulate a pseudo timer Our sensor has a parameter called POSI_ARRAY to remember the position of the FILE structure in the array Now open the code editor of the senseur_def sensor and write the following code in the init phase of the default processor timer 0 fd_array PARAM POSI_ARRAY fopen ref_vitesse txt r assert fd_array PARAM POSI_ARRAY NULL In the Scicos application we have defined the clock period of the square wave generator to the value 5 and the step of discretization h to the value 0 001 Thus we need in the SynDEx application to send 5000 times the same value To count we use the variable timer All the 5000 th times we read a new value in the file Write the following code in the loop phase of the default processor timer timer 1 5000 if timer 1 fscanf fd_array PARAM POSI_ARRAY f n amp data ROUT out_1 0 data We need to free memory by closing the file Write the following code in the end phase of the default processor fclose fd_array PARAM POSI_ARRAY Speed output An output saves in a file the values of the system states Thus an output has a parameter called POSI_ARRAY to remember the position of the array where the stream has be
37. ick Modify durations dialog window computation 2 input 5 output 3 1 3 2 Definition of a medium Bus Type SAM Point to Point v SAM MultiPoint v RAM _OK Cancel Figure 1 17 Type of a communication medium To create a MediumSamPointToPoint medium definition e from the principal window Architecture Define Medium dialog window MediumSamPointToPoint click OK gt definition window e from the MediumSamPointToPoint definition window click Modify type dialog window SAM Point to Point cf figure 1 17 click Modify durations dialog window float int uchar 1 ushort 1 N I 1 3 3 Definition of the main architecture To create an ArchiSamPointToPoint architecture definition e from the principal window Architecture Define Architecture cf figure 1 14 dialog window ArchiSamPointToPoint definition window e from the ArchiSamPointToPoint definition window create references ul and u2 to the operators Uin and Uout e from the ArchiSamPointToPoint definition window Edit Reference Medium dialog window click user select MediumSamPointToPoint dialog window type medium_sampp e define the operator ul as main 1 3 4 Connections between the operators and the medium Figure 1 18 Architecture with two operators and a SAM point to point communication medium In the main architecture window to create a connection between the u1 operator and the mediu
38. in_4 and five input ports from in_1 to in_5 Each of these three functions is created with only one output port out_1 e finally create both algorithms controleurl_sup and controleur2_sup cf figures 8 2 and 8 4 setting their gain parameters respectively to 0 5 0 0 5and4 4 4 A 8 3 2 Source code associated with the functions We associate C source code to each function definition gain and nary sums The code is inserted for the default processor Gain A gain is a function that multiplies its input by a coefficient given as a parameter named GAIN After adding this parameter open the code editor of the gain definition and write the following code in the loop phase of the default processor ROUT out_1 0 IN in_1 0 PARAM GAIN Sum We have three different forms of sum depending of its arity two four or five input ports e open the code editor of the sum function with two input ports and write the following code in the loop phase of the default processor ROUT out_1 0 IN in_1 0 IN in_2 0 e open the code editor of the sum function with the four input ports and write the following code in the loop phase of the default processor ROUT out_1 0 IN in_1 0 IN in_2 0 IN in_3 0 IN in_4 0 e open the code editor of the sum function with the five input ports and write the following code in the loop phase of the default processor ROUT out_1 0 IN in_1 0 IN in_
39. ition of the function s To create the B function definition e from the algorithm window green button dialog window B lt x Y gt e in the B definition window create references A1 and A2 to the definition A A1 lt x gt A2 lt y gt create two integer input ports a and b one integer output port o and the function calc1 of the definition calcull add the parameters names x and y field Parameters The function B looks like the figure 23 Function A Up In Main Main History Definition list Double click to open Drag and drop to reference Z Definition Properties Name a Description Parameters rt d Figure 2 1 Parameters a a Figure 2 2 Function A 24 2 3 w sk Figure 2 3 Function B Definition of the algorithm with hierarchy To create the Main algorithm from the algorithm window green button dialog window Main from the definition window define it as main create a sensor input with an integer output port o and an actuator output with an integer input port i in the Main algorithm window create a reference B lt 1 2 gt to the definition B a reference i1 i2 to the definition input and a reference out to the definition output create dependences between the references The algorithm looks like the figure SP ag Figure 2 4 Algorithm of the Example 2 From the principal window choose File Close In
40. lgorithm New Algorithm Window cf figure L 1 It opens the edition window for algorithm definitions 1 1 1 Definition of a sensor To create an input sensor definition e from the algorithm window click on the green button It opens a dialog window check Sensor cf figure 1 2 Type the sensor name and optionally a list of parameters for the sensor For example type input then Define Sensor oor syntax help y Function Delay Sensor Actuator Constant ok Cancel Figure 1 2 Define Sensor Define Sensor input syntax help Function Delay Sensor Actuator Constant ok Cancel Figure 1 3 Name of the new sensor Sensor input Up In Main Main History Definition list rolei Double click to Drag Soe to ec S S vi F 7 Definition Properties bt Jd Name input E Description Parameters Figure 1 4 Sensor definition window Sensor input Up In Main Main History Definition list Double click toopen ei Drag and drop to reference Z CFP Definition Properties Name input Description Parameters D Undo Add definitions Ctri Z Redo Ctri Shift Z Copy Ctri C Cut Ctri X Paste CA Delete Delete Extract as superblock Activate Info Bubbles Postscript Create Condition Delete Condition Add dependence Add port Add reference Set As Main Definition Ports Order LL Description
41. m architecture adequation and code generation From the principal window choose File Save as and save your sixth application under a new folder of your tutorial folder e g my_example6 with the name example6 6 1 The main algorithm Create the main algorithm algo cf figure 6 1 using the library int for the operations In lt 1 gt input cste2 lt 2 gt est add lt 1 gt Arit_add mul lt 1 gt Arit mul visuadd lt 1 gt and visumul lt 1 gt output For the operation conv create a function definition conv create a reference to this definition and give it a duration Create the dependences between the references Set it as main Figure 6 1 Main algorithm of the Example 6 Warning it is necessary that the sensor in should be distributed onto the processor root i e on the local machine in order that it operates properly 6 2 The main architecture To define and constraint the main architecture e include the library u 41 e from the principal window choose Architecture Edit Architecture Definition and open the architecture biProc e define it as main e create the operation groups og1 and og2 then create the absolute constraints on the operators og on root og2 on P1 Attach references to operation groups In add and visumul 0g1 mul and visuadd gt 0g2 6 3 The adequation and the code generation To perform the adequation and to generate the code e before performing the code
42. m_sampp medium point the cursor on the port x of the operator middle click and drag it to the communication medium It draws an edge between the operator and the communication medium After creating the other connection the main architecture looks like the figure 17 1 4 An architecture with a SAM multipoint medium To create an ArchiSamMultiPoint architecture definition e from the principal window Architecture Define Architecture cf figure 1 14 dialog window ArchiSamMultiPoint ArchiSamMultiPoint definition window e create references ul and u2 to the operator Uin and a reference u3 to the operator Uout like in the previous example e create a medium definition MediumSamMultiPoint of type SAM MultiPoint with durations float 2 int 2 uchar 1 ushort 1 e create a reference medium_sammp to this medium in the main architecture window dialog window check No Broadcast e define the operator ul as main e connect the operators ports y to the medium The architecture looks like the figure 1 19 Figure 1 19 Architecture with three operators and a SAM multipoint communication medium 1 5 An architecture with a RAM medium To create the ArchiRam architecture definition e from the principal window Architecture Define Architecture cf figure 1 14 dialog window ArchiRam ArchiRan definition window e create a reference u1 to the operator Uin and references u2 and u3 to the operator Uout e creat
43. mateur2_def ifelse processorType_ processorType ifelse MGC INET EI MGC LOOP WARNING empty code for macro 0 in loop phase MGC SEND SPE Ey define example8_sommateur4_def sommateur4_def define sommateur4_def ifelse processorType_ processorType ifelse MEG INET Sieh MGC LOOP WARNING empty code for macro 0 in loop phase MGC VEND yA VER A et define example8 sommateur5 def sommateur5_def define sommateur5 def ifelse processorType_ processorType ifelse MGC INDI RE hg MGC LOOP WARNING empty code for macro 0 in loop phase MGC TENDS 8 VEE JENY define example8_vitesse_def vitesse deii define vitesse_def ifelse processorType_ processorType ifelse MGC INIT MGC LOOP WARNING empty code for macro 0 in loop phase MGC SEND AER define example8_voiturel_sup voiturel_sup define voiturel_sup ifelse processorType_ processorType ifelse MGC INIT MGC LOOP WARNING empty code for macro 0 in loop phase MGC SEND MEET define example8_voiture2_sup voiture2_sup define voiture2_sup ifelse processorType_ processorType ifelse MGC END Cd MGC LOOP WARNING empty code for macro 0 in loop phase MGC MEN
44. ments RM A mk and M4 lt gt must begin with a tab char acter The folder of the Example 6 must contain the following files example6 m4 example6 m4m example6 m4x example6 sdc example6 sdx GNUmakefile 43 e pl m4 e root m4 e root m4x To launch the execution type the command make in the folder of the Example 6 To delete the file created during the compilation type the command gmake clean From the principal window choose File Close In the dialog window click on the Save button 44 Chapter 7 Example 7 source code associated with an operation 7 1 Definition of the source code into the code editor window In the previous Example 6 we have learnt that a m4 file called with the name of the application plus the m4x extension must be manually written It contains all the source code associated with all operations present in a SynDEx application For example in the example6 application the conv function increments of one the value of the input and stores the result in the output Thus example6 m4x file contains define conv ifelse MGC INIT dnl MGC LOOP 2 0 1 0 1 MGC END dnl where 1 and 2 correspond respectively to the input port named i and the output port named o of the conv function You may read the comments written in the example6 m4x Handwriting this kind of code is not very easy for several reasons the
45. mple7 sdx and example7 sdc e code generation produces these files example7 m4 root m4 pcl m4 if archi is defined as main example7_sdc m4x if Generate m4x files is set and example7 m4x if Generate m4x files is set and the file did not exist be fore e compilation produces these files example7 mk root root c and root root o and if archi is defined as main pcl pcl c and pcl pcl o From the principal window choose File Close In the dialog window click on the Save button 50 Chapter 8 Example 8 a complete realistic application from adequation to execution From the principal window choose File Save as and save your eighth application under a new folder of yout tutorial folder e g my_example8 with the name example8 8 1 The aim of the example In the seven previous examples we have learnt how to use SynDEx s GUI to create architectures algorithms launch adequation obtain executive files Now we have sufficient knowledge to perform a simple automatic control application that will be executed on a multiprocessor architecture First the application is described and the system is defined in Scicos the block diagram editor of the Scilab software Second the corresponding SynDEx application is created using the Example 1 to 3 of the tutorial This needs the generation of some c code following the method discussed in Example 7 Finally we compile the application to obtain executable for several processors
46. new processor type From the principal window choose File Included Libraries Select c40 e Define an new architecture from the principal window choose Architecture Define Architecture cf figure 1 14 In the entry text write archi2 gt OK in the archi2 window create a reference root to the operator C40 and define it as the main operator e Replace the conv_ref_bis box by a reference to bar_ref create a new function definition named bar with one input port called in and one output port called out in the algo definition select all the references using the mouse and copy them right click Copy create a new main algorithm named algo2 paste in the algo2 definition window in the algo2 definition window first delete the conv_ref_bis reference then create a reference bar_ref box to the definition bar finally create the missing dependences e Insert code for c40 processor type to the bar function 47 in the algo2 definition window double left click on the bar_ref blue box It opens the bar definition window In its contextual menu select Edition of the associated source code It opens the code editor in the bar definition window right click on the background and select Edit code phases Select init and end gt OK in the code editor window Type of Processor Select C40 in the code editor window click on the init phase button and write in the text area
47. ommands interpreter It creates actuator_1 actuator_2 example8 mk root root c root root o pcl pcl c and pcl pcl o files e the actuator _i file contains the speed of the first car e the actuator_2 file contains the distance between the cars 8 6 3 In the case of a multi processor architecture The architecture Figure 8 15 The architecture with 5 operators In this subsection we suppose that the architecture is constituted of five operators named root cont1 cont2 dynal and dyna2 of type u and linked with a medium bus of type TCP e create the multi architecture cf figure 8 15 add one U operator named root and define it as main operator add one U operator named cont1 add one U operator named cont2 add one U operator named dynal add one U operator named dyna2 add one TcP medium named bus and choose the Broadcast option links the medium to the x gates of the operators except for the root one linked with its y gate to the medium define the multi architecture as main e create operation groups create the og_root operation group attach ref_vit vitesse and distance to it create the og_dynal operation group from the main mode in the vehicule1 reference attach mecal to it create the og_cont1 operation group from the main mode in the vehicule1 reference attach control1 to it 65 create the og_dyna2 operation group from the main mode in the vehi
48. operties it is repeated a times add it two input ports float a b inm float b inv and one output port float a outv then create dependences to obtain an algorithm cf figure 4 8 Figure 4 8 Algorithm of the function prodmatvec The repetition consists in multiplying a a b matrix by a b elements vector by calling a times the dp multipli cation function on vectors 4 3 5 Definition of the algorithm aigorithmMain3 To create the AlgorithmMain3 algorithm create the definition of the sensor inm with two parameters names N and m and with an output port float N M o create a new function definition named AlgorithmMain3 and define it as main add it two parameters N with values 3 4 create a reference m1 lt N M gt to the matrix inm create a reference inv lt N gt to the vector float input create a reference matprodvec lt N M gt to the function prodmatvec create a reference outv lt M gt to the vector float output then create dependences to obtain an algorithm cf figure 4 9 From the principal window choose File Close In the dialog window click on the Save button 33 Figure 4 9 AlgorithmMain3 of the Example 4 34 Chapter 5 Example 5 condition and nested condition in algorithm From the principal window choose File Save as and save your fifth application under your tutorial folder with the name example5 5 1 An algorithm with condition 5 1 1 Sensors x and i actuator
49. parameter names P T in the Parameters field e open the main algorithm definition select the conv reference add parameters values 2 3 in the Parameters field and modify the name reference from conv to conv_ref in the Name field Verify that the parameters have been stored in the function We have two solutions e from the algorithm window on the main algorithm put the mouse on the conv box Read the printed informations in the principal window e or right click on the algorithm window background and select Activate Info Bubbles Point the mouse cursor on the conv operation box 7 1 2 To edit the code associated with an operation In the case of a generic processor e Open the code editor We need to launch the code editor of the selected operation Let us consider the case of the conv_ref function We have to do the following operations in the main algorithm double left click on the conv_ref blue box It opens the conv definition window In its contextual menu select Edition of the associated source code It opens the code editor It looks like a window with three push buttons and an editable text area Each push button corresponds to one specific phase of three init loop and end phases When one of the three buttons is pressed the text area shows the associated source code in the conv definition window right click on the background and select Edit code phases Select init and end gt OK in the code edito
50. placing the pole of the transfer from Uj to Y2 in the closed loop system which is given by Yz Uk s kop3s kop 8 3 The controllers The purpose of the controller of the C car is to follow the reference in speed given the first driver It stabilizes the Ci speed around its reference speed by using pole placement For example gains are respectively 0 5 0 0 5 The controller of second car stabilizes the distance between the two cars It stabilizes y2 around 0 by pole placement For example gains are respectively 4 4 4 4 The controler of Cz knows these informations and sends them electronically to C This remark is available for Cj 8 3 1 Block diagrams of controllers D gt vl Lp gt EN gt m e o SS oe Figure 8 1 Scicos controller of the first car H Figure 8 2 SynDEx controller of the first car Our controllers are simple They are represented in figures 8 1 and 8 3 in Scicos and figures 8 2 and 8 4 in SynDEx 52 vl Ja e N v2 Figure 8 3 Scicos controller of the second car Figure 8 4 SynDEx controller of the second car 53 e create a gain_def function with one input port in_1 one output port out_1 and a parameter named value Notice that all ports will be of type float e then create sommateur2_def sommateur4_def and sommateur5_def functions respectively with two input ports in_1 and in_2 four input ports from in_1 to
51. ple 6 e we modify the code associated with this function first in case of a generic processor then in case of an architecture with heterogenous processors e we create manualy the example7 m4m file to define the hostname and the root m4x file for the main oper ator e we create manualy the GNUmakefile e we perform the adequation then we perform compilation finally we compile the executives and launch the executables Definition of the source code in separate c files e we define the code of a new function in a c file e we define the code of a new function in a c file and we use a h file Example 8 A complete realistic application from adequation to execution e we build the model of a complete application for two cars e we perform the adequation e we generate the code for each processor e we compile and execute the code associated with each processor Example 9 A multiperiodic application e we build a basic multi periodic application e mono phase schedule e multi phase schedule Chapter 1 Example 1 algorithm architecture and adequation 1 1 The main algorithm File Options Algorithm Architecture Constraints Adequation Code Help New Algorithm Window Ctri N Define Operation Group Figure 1 1 Algorithm New Algorithm Window From the principal window choose the File Save as option and save your first application under a new folder e g my_tutorial with the name examplel Choose A
52. r window init phase write in the text area which is empty the following C language code This code is understood as a generic code printf Init phase of function 0 for default processor n do the same thing for the loop phase OUT o 0 IN i 0 PARAM T PARAM P printf Loop phase of function 0 for default processor Si Ann OUT o 0 and for the end phase printf End phase of function 0 for default processor n inthe code editor window Edit Apply changes to all phases It saves all buffers of all edited phases in the code editor window OK it also saves all buffers Notice the following points 1 Macros of the code editor as GIN GOUT PARAM are explained in the User Manual 46 you can not launch the code editor from a main algorithm or a read only operation definition coming from libraries you can write a code associated with a herarchical operation meanwhile it will not be present in the applicationName_sdc m4x file the background color of the text area of the code editor is grey it is important to recall that the code is common to all the references of the same operator Only the values of parameters are specific of each instance e Verify that code is common to all references We create a new reference to the conv function in the main algorithm create a reference conv_ref_bis lt 8 9 gt to the definition conv in the main algori
53. ro 0 in loop phase MGC SEND ara At Ken define example8_controleur2_sup controleur2_sup define controleur2_sup ifelse processorType_ processorType ifelse MGC SINTER Oe MGC LOOP WARNING empty code for macro 0 in loop phase MGC END E yy define example8_gain_def gain_def define gain def ifelse processorType_ processorType ifelse MGC INIT MGC LOOP WARNING empty code for macro 0 in loop phase MGC SEND E Ly define example8_integrale_discrete_sup integrale_discrete_sup define integrale_discrete_sup ifelse processorType_ processorType ifelse MGC INIT MGC LOOP WARNING empty code for macro 0 in loop phase MGC SENDA 2 PEE rd define example8_scope_def scope_def define scope def ifelse processorType_ processorType ifelse MGC INDI 327 MGC LOOP WARNING empty code for macro 0 in loop phase MGC SENDA pA PEE ey define example8_senseur_def senseur def define senseur_def ifelse processorType_ processorType ifelse MGC INIT 60 MGC LOOP WARNING empty code for macro 0 in loop phase MGC END define example8_sommateur2_def sommateur2_def define som
54. ry 4 3 1 Inclusion of the library float 0 4 3 2 Definition of the function dpac 4 3 3 Definition of the function d 4 11 11 11 14 14 16 16 16 17 17 17 18 18 19 19 19 23 23 23 25 26 26 26 26 4 3 4 Definition of the function prodmatve 4 3 5 Definition of the algorithm AlgorithmMain3 An algorithm with condition o o o 1 2 Function switch es RA ee REA HAE EA Hee we eR 5 1 3 Algorithm AlgorithmMain 5 2 2 Function switch eos e A ee a ee eh ee ee ee we eee ee bee 5 2 3 Algorithm AlgorithmMain2 5 1 in 6 Example 6 algorithm architecture adequation and code g 6 1 The main algorithm EEN 6 3 The adequation and the code generatio 7_ Example 7 source code associated with an operatio 7 1 Definition of the source code into the code editor windo 7 1 1 _To add parameters to an already defined operatio 7 1 2 To edit the code associated with an operatio 7 1 3 To generate m4x file 8 Example 8 a complete realistic application from adequation to executio 8 1 Theaimoftheexampla o oaa a a 82 Themodel sos asat A E e E ea BO are a e GS we ee e oe el e Al A 8 3 The controller 8 3 1 Block diagrams of controller o ooo 8 3 2 Source code associated with the functiong 2 a e e e e a e e SA The complete model 8 4 1 _ The cardynainicd e serune
55. s N elements 30 e create dependences between the references in order to obtain the main algorithm cf figure 4 5 e type N in the Parameters textfield of the Definition Properties and 3 in the Values textfield Notice the difference of the mul reference when it is seen from the AlgorithmMain2 definition mode or from the main mode Main button Figure 4 5 AlgorithmMain2 of the Example 4 4 3 An algorithm with repetition with the s10a library In this section we create a multiplication function of a N M matrix by a M elements vector by repeating N times a multiplication function on vectors 4 3 1 Inclusion of the library float Include the library float File Included Libraries Float 4 3 2 Definition of the function dpacc This function is a multiplication function on scalars with an accumulator e create a new function definition named dpacc e create a reference mul lt 1 gt to the function float Arit_mul the reference works on scalars e create a reference add lt 1 gt to the function float Arit_add the reference works on scalars e add it three input ports and one output port float s1 float s2 float acc float acc e then create dependences to obtain an algorithm cf figure 4 6 Notice that acc is an input port and an output port of the function It will be used as an accumulator to store the partial sum 31 P Figure 4 6 Algorithm of the function dpacc 4 3 3 Definition of the function
56. t draws an arrow between these target ports After creating the other data dependences the main algorithm looks like the figure 1 2 An architecture with one operator 1 2 1 Definition of an operator Modify gates Modify durations Modify code generation phases Figure 1 13 Operator definition window To create an Uinout operator definition e from the principal window choose Architecture Define Operator It opens a dialog window type Uinout and click OK It opens the operator definition window cf figure L I3 e from the Uinout definition window to add a gate click Modify gates dialog window gate_type_1 x to set the operator execution durations click Modify durations dialog window computation 2 input 1 output 3 14 File Options Algorithm Architecture Constraints Adequation Code Help Define Operator Edit Operator Definition Delete Operator gt Define Medium Edit Medium Definition Delete Medium r Define Architecture Edit Architecture Definition Edit Main Architecture Ctri Shift A Delete Architecture gt AN scil BEE Figure 1 14 Architecture Define Architecture Window Edit Copy Ctrl C Cut Ctri x Paste CIA Delete Delete Postscript File Jpeg File Options gt Reference Operator T Reference Medium Find Operator Reference Find Medium Reference Set As Main Architecture Ctri M
57. the dialog window click on the Save button 25 Chapter 3 Example 3 delay in algorithm From the principal window choose File Save as and save your third application under your tutorial folder with the name example3 3 1 Definition of the operations input output and caic Create a sensor input an actuator output and the function calc like in the Examples 1 and 2 cf and calcull in 2 1 3 2 Definition of the delay To create the calcPrec delay e from the algorithm window click on the green button dialog window check Delay then type calcPrec lt init size gt and click OK The parameter init will be used to specify the initial value of the delay and size the number of delays e in the definition window create one input port and one output port Enter int i int o AA Definition of the algorithm with delay Create an algorithm algorithmMain Create a reference inl to the definition input a reference calc to the defi nition calc a reference out1 to the definition output and a reference calcPrec lt 0 1 gt to the definition calcPrec Create dependences between the references The algorithm looks like the figure From the principal window choose File Close In the dialog window click on the Save button 26 Figure 3 1 Algorithm of the Example 3 27 Chapter 4 Example 4 repetition and library in algorithm From the principal window choose File Save as and save your fourth application un
58. them Example 4 Repetition and library in algorithm e we create a multiplication function of a vector by a scalar by repeating a multiplication function on scalars firstly without any library secondly with a library e we create a multiplication function of a matrix by a vector by repeating a multiplication function on vectors Example 5 Condition and nested condition in algorithm e we create an algorithm conditioned by a data dependence the value of which indicates the operation to be executed e we create an algorithm conditioned by a data dependence one operation of which is in turn conditioned nested condition by the same data dependence Example 6 Algorithm architecture adequation and code generation e we create a main algorithm by referencing a sensor two actuators three functions and a constant and by connecting them e we create an architecture with two operators of type U and a communication medium of type u TCP e we perform the adequation e we perform the code generation then we create manualy the example m4x file for operations not defined in libraries e we create manualy the example6 m4m file to define the hostname and the root m4x file for the main oper ator e we create manualy the GNUmakefile then we execute the executives created after compilation Example 7 Definition of the source code into the code editor window e we add parameters to the conv function of Exam
59. thm first remove the link between the conv_ref and mul boxes Second link the conv_ref output to the conv_ref_bis input Third link the conv_ref_bis output to the mul b input in the algorithm window left click on the Auto position button and write 120 in the two entry texts gt OK open the code editor of this new box the code is the same To show that values of parameters are specific to the reference and not to the definition we must generate the m4 code like shown in the previous example Menu Adequation Launch Adequation then Code Generate Executive s and look in P1 m4 Menu Code Display Executive s The file contains conv 2 3 algo_cste2_P1_o algo_conv_ref_o conv 8 9 algo_conv_ref_o algo_conv_ref_bis_o In the case of an architecture with heterogeneous processors Sometimes it is interesting for an operation to have different source codes depending on the type of processor For example a given processor type x may only offer assembly language as a programming interface In such case we must be able to provide for example c code for processors that support it and assembly language for the x processor type To support heterogeneous architecture the code editor associates code to a triplet phase processor operation A special processor type Default is provided for processors that have not been associated with dedicated code Its use allows to share a code between different processor types e Include a
60. tion of a function To create a computation function definition e from the algorithm window click on the green button dialog window check Function then type computation and click OK e double click on computation in the Definition list Thenright click on its background and select Add port dialog window int a int b int o Click OK It creates the integer ports a b and o in the function definition window 1 1 4 Definition of the main algorithm To create an AlgorithmMain function definition 11 Function AlgorithmMain Up In Main Main History Definition list Double click to open amp Drag and drop to reference Definition Properties Name AlgorithmMa Description Parameters Kc Undo Add definitions Ctri Z Redo Ctri Shift Z Copy Ctri C Cut Ont Paste COM Delete Delete Extract as superblock Activate Info Bubbles Postscript Create Condition Delete Condition Add dependence Add port Add reference Set As Main Definition Ports Order Description Durations Edit code phases Edition of the associated source code Z Figure 1 8 Contextual menu Set As Main Definition Function AlgorithmMain Up In Main Main History Definition list Double click toopen Drag and drop to reference fAlgorithmMain fcomputation finput AN E gt Definition Properties
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