MATLAB与DSP(C6657)的TCP/IP通信实现

最近尝试使用从MATLAB端键入输入,将输入值传给DSP,DSP运算之后将结果传回MATLAB并显示。我所设置的PC的IP地址是192.168.2.101,DSP的IP地址是192.168.2.100,端口号是7。DSP作为server端,MATLAB作为client端。

  •  MATLAB的TCP/IP通信实现

我所要实现的功能函数有三个输入:T、fa、i,一个输出:H,都是double型的数,也就是每个数的大小是8个字节。从MATLAB端键入的代码及注释如下:

 

clear all      
t = tcpip('192.168.2.100',7, 'NetworkRole', 'client'); %前两个参数是远程主机(DSP)的ip地址和端口,最后一个参数要写MATLAB的NetworkRole     
fclose(t); %关闭TCP/IP      
t.inputbuffersize=1024; %设置输入缓冲区为1024b,缺省值为512b,根据自己传输的数据大小来调整,不要比传输的数据小      
t.outputbuffersize=1024; %设置输出缓冲区为1024b      
t.Timeout=30;%最长等待连接的时间      
set(t,'ByteOrder','littleEndian'); %设置为小端模式,DSP和MATLAB的字节序应一致避免麻烦     
buffer1=input('T='); %在MATLAB键入输入值      
buffer2=input('fa=');      
buffer3=input('i=');     
fopen(t); %连接TCP/IP对象     
tic %计时开始     
fwrite(t, buffer1,'double'); %将buffer1里的数据以'double'的格式写入t     
fwrite(t, buffer2,'double');     
fwrite(t, buffer3,'double');     
H=fread(t,1,'double'); %以'double'的格式从t里读出1个数据并写入H   
toc %计时结束    
format longE; %以LongE的格式显示    
fprintf('H=%f\n',H); %在MATLAB平台上显示输出值    
fclose(t); %关闭TCP/IP    
delete(t); %删除TCP/IP    

 

  • DSP的TCP/IP通信实现

我采用的DSP是TI公司的TMS320C6657,CCS采用的是5.5版本,通信例程是在TI官方的helloworld例程的基础上改写的。在编写程序之前,首先要确定自己导入的helloworld例程的products被正确设置,我截取我的例程采用的products如下图:

MATLAB与DSP(C6657)的TCP/IP通信实现_第1张图片

主要是XDCtools、MCSDK、NDK、SYS/BIOS相互之间以及它们与CCS之间的版本要匹配,TI官网给出了相关的版本要求,如果不满足要求,就会出现编译错误。一开始我没有发现这个问题,版本都是随机下载选择的,出现了很多奇奇怪怪搜索不到的错误,卡了好多天,很难受,大家如果嫌麻烦直接按我这个图上的版本配置就好。

下一步就是对helloworld例程的理解与修改,我采用的是TCP而非UDP,另外我用的是固定IP方式,而非DHCP。helloworld的代码我们主要关注的就是两个,一个是helloWorld.c,这个几乎是TCP/IP通信的模板代码,不管是什么TCP/IP的例程中都会有一个文件与这个文件几乎完全相同,里面主要是EVM_init、StackTest、NetworkOpen、NetworkClose、NetworkIPAddr、 ServiceReport这几个函数。另一个是udpHello.c,这是收发数据的代码。helloworld中还有一个cfg文件,我对它的功能搞得不是很清楚,这个文件我没有动,也没有影响最终的功能的实现。如果有哪位朋友懂的话,希望可以一起讨论下。helloWorld.c的代码与及注释如下,其中中文字体是我改动的地方:

#include  
#include   //这是我所实现的功能所要用到的库
#include 
/* BIOS6 include */
#include 

/* Platform utilities include */
#include "ti/platform/platform.h"
#include "ti/platform/resource_mgr.h"

/* Platform Information - we will read it form the Platform Library */
platform_info  gPlatformInfo;


//---------------------------------------------------------------------------
// Title String
//
char *VerStr = "\nTCP/IP Stack 'Hello World!' Application\n\n";

// Our NETCTRL callback functions
static void   NetworkOpen();
static void   NetworkClose();
static void   NetworkIPAddr( IPN IPAddr, uint IfIdx, uint fAdd );

// Fun reporting function
static void   ServiceReport( uint Item, uint Status, uint Report, HANDLE hCfgEntry );

// External references
extern int dtask_udp_hello();

//---------------------------------------------------------------------------
// Configuration
//
char *HostName    = "tidsp";
char *LocalIPAddr = "192.168.2.100";    //DSP的IP地址
char *LocalIPMask = "255.255.255.0";    // 掩码
char *GatewayIP   = "192.168.2.101";    // 网关
char *PCStaticIP   = "192.168.2.101";   // PC的IP地址
char *DomainName  = "demo.net";         // Not used when using DHCP
char *DNSServer   = "0.0.0.0";          // Used when set to anything but zero

/*************************************************************************
 *  @b EVM_init()
 * 
 *  @n
 *
 *  Initializes the platform hardware. This routine is configured to start in 
 *   the evm.cfg configuration file. It is the first routine that BIOS
 *   calls and is executed before Main is called. If you are debugging within
 *  CCS the default option in your target configuration file may be to execute 
 *  all code up until Main as the image loads. To debug this you should disable
 *  that option. 
 *
 *  @param[in]  None
 * 
 *  @retval
 *      None
 ************************************************************************/
void EVM_init() //对DSP开发板的初始化,若使用GEL文件则不需要这一步
{
        int i;
        platform_init_flags  sFlags;
        platform_init_config sConfig;
    /* Status of the call to initialize the platform */
    Int32 pform_status;
    /* Platform Information - we will read it form the Platform Library */
    platform_info       sPlatformInfo;

        /*
         * You can choose what to initialize on the platform by setting the following
         * flags. We will initialize everything.
        */
        memset( (void *) &sFlags,  0, sizeof(platform_init_flags));
        memset( (void *) &sConfig, 0, sizeof(platform_init_config));

        sFlags.pll = 0;
        sFlags.ddr = 0;
    sFlags.tcsl = 0;    /* Time stamp counter   */
    sFlags.phy  = 0; //实际上在使用以太网时这里应该设为1,但是我的库函数可能有一些问题,使用这个EVM_init函数对板子初始化,会出现无法link的情况,于是我把这里设为0,利用GEL文件初始化板子   
    sFlags.ecc = 0;

    sConfig.pllm = 0;

        pform_status = platform_init(&sFlags, &sConfig);

        /* If we initialized the platform okay */
        if (pform_status == Platform_EOK) {
                /* Get information about the platform so we can use it in various places */
                memset( (void *) &sPlatformInfo, 0, sizeof(platform_info));
                (void) platform_get_info(&sPlatformInfo);
        }
        else {
                /* Intiialization of the platform failed... die */
                printf("Platform failed to initialize. Error code %d \n", pform_status);
                printf("We will die in an infinite loop... \n");
                while (1) {
                        (void) platform_led(1, PLATFORM_LED_ON, (LED_CLASS_E) PLATFORM_USER_LED_CLASS);
                        (void) platform_delay(50000);
                        (void) platform_led(1, PLATFORM_LED_OFF, (LED_CLASS_E) PLATFORM_USER_LED_CLASS);
                        (void) platform_delay(50000);
                };
        }

        platform_write_configure(PLATFORM_WRITE_PRINTF);
        platform_uart_init();
        platform_uart_set_baudrate(19200);

        /* Check to see that we are running on the Master Core */
        if (platform_get_coreid() != 0) {
                /* We are not on the Master Core... die */
                printf("You must run this application on Core 0. \n");
                printf("We will die in an infinite loop... \n");
                while (1) {
                        (void) platform_led(1, PLATFORM_LED_ON, (LED_CLASS_E) PLATFORM_USER_LED_CLASS);
                        (void) platform_delay(50000);
                        (void) platform_led(1, PLATFORM_LED_OFF, (LED_CLASS_E) PLATFORM_USER_LED_CLASS);
                        (void) platform_delay(50000);
                };
        }

        /* Clear the state of the LEDs to OFF */
        for (i=0; i < sPlatformInfo.led[1].count; i++) {
                platform_led(i, PLATFORM_LED_OFF, (LED_CLASS_E) PLATFORM_USER_LED_CLASS);
        }

        return;
}


//---------------------------------------------------------------------
// Main Entry Point
//---------------------------------------------------------------------
int main()
{
 /* Start the BIOS 6 Scheduler */
 BIOS_start ();
}

//
// Main Thread
//
int StackTest()
{
    int             rc;
    int        i;
    HANDLE          hCfg;

     //
    // THIS MUST BE THE ABSOLUTE FIRST THING DONE IN AN APPLICATION before
    //  using the stack!!
    //
    rc = NC_SystemOpen( NC_PRIORITY_LOW, NC_OPMODE_INTERRUPT );
    if( rc )
    {
        platform_write("NC_SystemOpen Failed (%d)\n",rc);
        for(;;);
    }

    // Print out our banner
    platform_write(VerStr);

    //
    // Create and build the system configuration from scratch.
    //

    // Create a new configuration
    hCfg = CfgNew();
    if( !hCfg )
    {
        platform_write("Unable to create configuration\n");
        goto main_exit;
    }

    //
    // THIS MUST BE THE ABSOLUTE FIRST THING DONE IN AN APPLICATION!!
    //
 /*   rc = NC_SystemOpen( NC_PRIORITY_LOW, NC_OPMODE_INTERRUPT );
    if( rc )
    {
        printf("NC_SystemOpen Failed (%d)\n",rc);
        for(;;);
    }

    // Print out our banner
    printf(VerStr);

    //
    // Create and build the system configuration from scratch.
    //

    // Create a new configuration
    hCfg = CfgNew();
    if( !hCfg )
    {
        printf("Unable to create configuration\n");
        goto main_exit;
    }
*/
    // We better validate the length of the supplied names
    if( strlen( DomainName ) >= CFG_DOMAIN_MAX ||
        strlen( HostName ) >= CFG_HOSTNAME_MAX )
    {
        printf("Names too long\n");
        goto main_exit;
    }

    // Add our global hostname to hCfg (to be claimed in all connected domains)
    CfgAddEntry( hCfg, CFGTAG_SYSINFO, CFGITEM_DHCP_HOSTNAME, 0,
                 strlen(HostName), (UINT8 *)HostName, 0 );

    // If the IP address is specified, manually configure IP and Gateway
   // if (!platform_get_switch_state(1))
    if(1)
    {
        CI_IPNET NA;
        CI_ROUTE RT;
        IPN      IPTmp;

        // Setup manual IP address
        bzero( &NA, sizeof(NA) );
        NA.IPAddr  = inet_addr(LocalIPAddr);
        NA.IPMask  = inet_addr(LocalIPMask);
        strcpy( NA.Domain, DomainName );
        NA.NetType = 0;

        // Add the address to interface 1
        CfgAddEntry( hCfg, CFGTAG_IPNET, 1, 0,
                           sizeof(CI_IPNET), (UINT8 *)&NA, 0 );

        // Add the default gateway. Since it is the default, the
        // destination address and mask are both zero (we go ahead
        // and show the assignment for clarity).
        bzero( &RT, sizeof(RT) );
        RT.IPDestAddr = inet_addr(PCStaticIP);  //这里官网给的是0,是不对的,应该按我这样写
        RT.IPDestMask = inet_addr(LocalIPMask); //这里官网给的是0,是不对的,应该按我这样写
        RT.IPGateAddr = inet_addr(GatewayIP);

        // Add the route
        CfgAddEntry( hCfg, CFGTAG_ROUTE, 0, 0,
                           sizeof(CI_ROUTE), (UINT8 *)&RT, 0 );

        // Manually add the DNS server when specified
        IPTmp = inet_addr(DNSServer);
        if( IPTmp )
            CfgAddEntry( hCfg, CFGTAG_SYSINFO, CFGITEM_DHCP_DOMAINNAMESERVER,
                         0, sizeof(IPTmp), (UINT8 *)&IPTmp, 0 );
        platform_write("EVM in StaticIP mode at %s\n",LocalIPAddr);
        platform_write("Set IP address of PC to %s\n", PCStaticIP);
    }
    // Else we specify DHCP
    else
    {
        CI_SERVICE_DHCPC dhcpc;

        // Specify DHCP Service on IF-1
        bzero( &dhcpc, sizeof(dhcpc) );
        dhcpc.cisargs.Mode   = CIS_FLG_IFIDXVALID;
        dhcpc.cisargs.IfIdx  = 1;
        dhcpc.cisargs.pCbSrv = &ServiceReport;
        CfgAddEntry( hCfg, CFGTAG_SERVICE, CFGITEM_SERVICE_DHCPCLIENT, 0,
                     sizeof(dhcpc), (UINT8 *)&dhcpc, 0 );
    }

    //
    // Configure IPStack/OS Options
    //

    // We don't want to see debug messages less than WARNINGS
    rc = DBG_WARN;
    CfgAddEntry( hCfg, CFGTAG_OS, CFGITEM_OS_DBGPRINTLEVEL,
                 CFG_ADDMODE_UNIQUE, sizeof(uint), (UINT8 *)&rc, 0 );

    //
    // This code sets up the TCP and UDP buffer sizes
    // (Note 8192 is actually the default. This code is here to
    // illustrate how the buffer and limit sizes are configured.)
    //
    // TCP 发生 buffer 大小
    rc = 8192;
    CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPTXBUF,CFG_ADDMODE_UNIQUE, sizeof(uint32_t), (uint8_t *)&rc, 0 );


    // TCP 接收 buffer 大小(复制模式)
    rc = 8192;
    CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPRXBUF,CFG_ADDMODE_UNIQUE, sizeof(uint32_t), (uint8_t *)&rc, 0 );


    // TCP 接收buffer 大小(非复制模式)
    rc = 8192;
    CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKTCPRXLIMIT,CFG_ADDMODE_UNIQUE, sizeof(uint32_t), (uint8_t *)&rc, 0 );

    // UDP 接收buffer 大小
    rc = 8192;
    CfgAddEntry( hCfg, CFGTAG_IP, CFGITEM_IP_SOCKUDPRXLIMIT,
                 CFG_ADDMODE_UNIQUE, sizeof(uint), (UINT8 *)&rc, 0 );

    //
    // Boot the system using this configuration
    //
    // We keep booting until the function returns 0. This allows
    // us to have a "reboot" command.
    //
    do
    {
        rc = NC_NetStart( hCfg, NetworkOpen, NetworkClose, NetworkIPAddr );
    } while( rc > 0 );

    // Delete Configuration
    CfgFree( hCfg );

    // Close the OS
main_exit:
    platform_write("Exiting the system\n");
    NC_SystemClose();
    return(0);
}


//
// System Task Code [ Server Daemon Servers ]
//
static HANDLE hHello=0;

//
// NetworkOpen
//
// This function is called after the configuration has booted
//
static void NetworkOpen()
{
    // Create our local server
    //hHello = DaemonNew( SOCK_DGRAM, 0, 7, dtask_udp_hello,
    //                  OS_TASKPRINORM, OS_TASKSTKNORM, 0, 1 );
    hHello = DaemonNew( SOCK_STREAM, 0, 7, dtask_udp_hello,
      	                OS_TASKPRINORM, OS_TASKSTKNORM, 0, 3 );  
   //因为我采用的是TCP而非UDP,所以这里改动了一下,被注释掉的代码是UDP
   //DaemonNew函数每个参数的具体含义参考NDK v2.21 API Reference Guide的5.4.1
   //DaemonNew是指创建一个Daemon Server,这个Server可以理解为官网编辑好的一个Server,它的具体代码我忘记在哪里了,但是我记得里面已经包含socket通信中Server所要实现的bind、listen、accept的功能,因此我们只需要编写收发数据以及自己要实现的功能的代码即可
}

//
// NetworkClose
//
// This function is called when the network is shutting down,
// or when it no longer has any IP addresses assigned to it.
//
static void NetworkClose()
{
    DaemonFree( hHello );
}


//
// NetworkIPAddr
//
// This function is called whenever an IP address binding is
// added or removed from the system.
//
static void NetworkIPAddr( IPN IPAddr, uint IfIdx, uint fAdd )
{
    IPN IPTmp;

    if( fAdd )
        printf("Network Added: ");
    else
        printf("Network Removed: ");

    // Print a message
    IPTmp = ntohl( IPAddr );
    printf("If-%d:%d.%d.%d.%d\n", IfIdx,
            (UINT8)(IPTmp>>24)&0xFF, (UINT8)(IPTmp>>16)&0xFF,
            (UINT8)(IPTmp>>8)&0xFF, (UINT8)IPTmp&0xFF );
}

//
// Service Status Reports
//
// Here's a quick example of using service status updates
//
static char *TaskName[]  = { "Telnet","HTTP","NAT","DHCPS","DHCPC","DNS" };
static char *ReportStr[] = { "","Running","Updated","Complete","Fault" };
static char *StatusStr[] = { "Disabled","Waiting","IPTerm","Failed","Enabled" };
static void ServiceReport( uint Item, uint Status, uint Report, HANDLE h )
{
    printf( "Service Status: %-9s: %-9s: %-9s: %03d\n",
            TaskName[Item-1], StatusStr[Status],
            ReportStr[Report/256], Report&0xFF );

    //
    // Example of adding to the DHCP configuration space
    //
    // When using the DHCP client, the client has full control over access
    // to the first 256 entries in the CFGTAG_SYSINFO space.
    //
    // Note that the DHCP client will erase all CFGTAG_SYSINFO tags except
    // CFGITEM_DHCP_HOSTNAME. If the application needs to keep manual
    // entries in the DHCP tag range, then the code to maintain them should
    // be placed here.
    //
    // Here, we want to manually add a DNS server to the configuration, but
    // we can only do it once DHCP has finished its programming.
    //
    if( Item == CFGITEM_SERVICE_DHCPCLIENT &&
        Status == CIS_SRV_STATUS_ENABLED &&
        (Report == (NETTOOLS_STAT_RUNNING|DHCPCODE_IPADD) ||
         Report == (NETTOOLS_STAT_RUNNING|DHCPCODE_IPRENEW)) )
    {
        IPN IPTmp;

        // Manually add the DNS server when specified
        IPTmp = inet_addr(DNSServer);
        if( IPTmp )
            CfgAddEntry( 0, CFGTAG_SYSINFO, CFGITEM_DHCP_DOMAINNAMESERVER,
                         0, sizeof(IPTmp), (UINT8 *)&IPTmp, 0 );
    }
}


 

 

udpHello.c的代码及注释如下:

 

#include 
#include  //我的功能所用到的库
#include   //我的功能所用到的库
 

double t2h(double T, double fa, double i);
double t2h_Taylor(double T, double fa);
void t2h_Polynomial( double FARX, double TEX, double* CSEX, double* AKEX, double* CPEX, double* REX, double* PHI, double* HEX ); //这三个函数是我自己的功能函数,忽略即可


//
// Returns "1" if socket 's' is still open, and "0" if its been closed
//
int dtask_udp_hello( SOCKET s, UINT32 unused ) //函数名还是udp,但是里面我已经改成tcp的了;用s表示socket对象
{
    struct sockaddr_in sin1;
    struct timeval     to;
    int                i0;
    HANDLE             hBuffer;
    (void)unused;

    unsigned char      pBuft[8],pBuffa[8],pBufi[8],pBufh[8]; 
    //前三个数组是用来存放从MATLAB那读取的T、fa、i的值的,最后一个数组是存放运算结果H的
    //由于MATLAB端传过来的数据都是double型,也就是8个字节
    //因此这里用含8个unsigned char数据的数组来存放MATLAB传回来的数值
    double T,fa,i,H; //我的功能函数的输入值
    

    // Configure our socket timeout to be 30 seconds
    //设置socket等待连接的最长时间
    to.tv_sec  = 30;
    to.tv_usec = 0;
    setsockopt( s, SOL_SOCKET, SO_SNDTIMEO, &to, sizeof( to ) );
    setsockopt( s, SOL_SOCKET, SO_RCVTIMEO, &to, sizeof( to ) );

    for(;;)
    {
        i0 = (int)recv(s, &pBuft, 8, 0);
       //把socket(即s)接收到的数据复制8个字节到pBuft数组中,i0的值是复制的字节数,显然应该为8
       //因为MATLAB和DSP都是小端字序,所以socket接收到的前8个字节显然是T的值
       //收发函数有很多,比如:recv、recvnc、recvfrom等等,它们的参数是不同的,在socket.h中可以看到
       //具体使用哪个收发函数看个人情况
       //在helloWorld.c中,DaemonNew函数的第一个参数,可以选择SOCK_STREAM、SOCK_STREAMNC或SOCK_DGRAM,我猜测三个选哪一个和这里的接收函数的选择要对应起来
       //比如前面选择SOCK_STREAMNC,这里就要用recvnc;前面选择SOCK_DGRAM,也就是UDP协议,这里就要用recvfrom或者recvncfrom
       //带nc的指non-copy模式,带from的需要指定socket address,因此UDP协议必须要用这种

        if(i0==8){
        	memcpy(&T,pBuft,8);
        //虽然MATLAB发送的T是double型的,但在实际传输时,是以二进制数据流传输的
       //前面把接收到的数据放入了含8个unchar的数据的数组中,而我们需要的输入值T应该是double型的
       //此句的作用就是数据类型的转换,把unsigned char类型的数组转为一个double型的数

        	i0 = (int)recv( s, &pBuffa, 8 ,0 );//将socket接收到的fa的值复制到pBuffa中
        	if(i0==8){
        		memcpy(&fa,pBuffa,8);

        		i0 = (int)recv( s, &pBufi, 8 ,0 );//将socket接收到的i的值复制到pBufi中
        		if(i0==8){
        		        memcpy(&i,pBufi,8);
        		}
        		else break;
        	}
        	else break;
        }
        else break;

        H=t2h(T,fa,i); 
        memcpy(pBufh,&H,8);//我的功能函数

        send(s,&pBufh,8,0);//将pBufh的值复制到socket的发送buffer中,等待MATLAB的接收请求
    }

  return(1); //保持socket开启
}

 

在DSP代码完成后,将开发板上电并运行程序,电脑上可以先不用MATLAB,而是打开cmd,输入ping 192.168.2.100,能ping通的话就说明DSP这边的网络连接没有问题。

代码展示完后,我想总结一下我在运行DSP代码中遇到的一些问题:

  1. 在点击debug和load之后有一段等待时间,这时尽量不要切出CCS的页面否则在运行时容易出现错误。
  2. 如果在点击load之后没有点击resume,代码自己就处于runnning状态了,多次尝试都是这样,说明代码虽然编译通过但是仍有bug,自己好好再检查一下。
  3. unable to restore CPU specific source container(有点忘了是不是这个问题,只记得带CPU这个词)这个问题是由于当前project的CCS版本和你的CCS版本不兼容,方法是在Target Configurations窗口中找到这个project的.ccxml文件,右击然后选择Launch selected Configuration进入debug页面,找到所要运行的核,右击选择connect,成功后load即可。
  4. 将代码固化在板子上目前还有一些问题,前面也说了,我如果用EVM_init函数对板子初始化,就会出现无法板子连接网络的问题,可能是我的库文件还有一些问题,需要再琢磨一下,也希望有了解相关知识的朋友能够不吝赐教。

 

  • PC与DSP开发板的连接与设置

使用网线,一端插入开发板上的网口,另一端插入电脑。这时打开控制面板,查看适配器设置,会出现下图中的图标:

MATLAB与DSP(C6657)的TCP/IP通信实现_第2张图片

右键打开这个适配器的“属性”,双击下图中的红圈里的内容,然后将之前对PC的IP地址和掩码的设定填入图中右边相应的位置:

MATLAB与DSP(C6657)的TCP/IP通信实现_第3张图片

设置好之后给开发板上电,先运行DSP中的程序,再运行MATLAB中的程序,两个的先后顺序不要搞反了,然后就可以在MATLAB中看到正确的结果。

 

在网上找到的做相关应用的很少,因此这个项目很是折磨了我一番,我把我的项目经历记录一下分享出来,希望大家可以一起讨论,同时也算是我自己对项目的梳理与总结。如有不当之处,请各位指正!

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