Free library for Hardware-in-Loop simulation with Arduino using Modelica and Modelica_DeviceDrivers models in Linux.

The OpenModelica-HIL-Simulation library is an open source Modelica package for Hardware-in-Loop simulations involving Arduino platforms using Interprocess Communication.

Main features:

• Support for Linux.
• (Soft) real-time synchronization of a simulation.

Please note that the library is known to work with

• OpenModelica (partial support starting with OpenModelica v1.11.0, e.g.serial port).

• OpenModelica (>= v1.11.0) (https://www.openmodelica.org/download/download-linux)

• Modelica_DeviceDrivers (v1.5.1) (https://github.com/modelica/Modelica_DeviceDrivers/releases/tag/v1.5.1)

• Servomechanisms(https://github.com/afrhu/Servomechanisms.git)

• Install and Run: Launch OMEdit with admin priviledeges('sudo mode') and load the package OpenModelica-HIL-Simulation(HIL_IPC/HIL_ArduinoIPC/package.mo & HIL_OpenModelica/package.mo) and InterProcessCommunication(InterProcessCommunication/package.mo).Also, load the Servomechanisms package. Load the Arduino platform with the controller1.ino code in controller1 directory. Create any model using the package and simulate.

Test the package using HIL_Arduino.mo test provided.

• Load the Arduino platform with the controller1.ino code.
• Compile the SerialSHM.c file in HIL_IPC/HIL_ArduinoIPC/Resources/Include using the following command

$ gcc Serial_SHM.c -o Serial_SHM -lrt

• Execute the SerialSHM file using the following command

$ sudo ./Serial_SHM

• Load the HIL_Arduino.mo test model present in package.
• Set simulation flag '-rt=1' in OMEdit. Simulate the model. If no error occurs, the package is good to go.

For further information: Visit https://build.openmodelica.org/Documentation/Modelica.html , https://build.openmodelica.org/Documentation/Servomechanisms.html

Main developers:

• Souradip Pal, contribution to the Linux specific code

Contributions in shape of [Pull Requests] are always welcome.

The following people have directly contributed to the implementation of the library (many more have contributed by providing feedback and suggestions):

• Manas Ranjan Das (project mentor), contribution in bug fixes,error removal etc.