MATLAB REAL-TIME WORKSHOP 7 - TARGET LANGUAGE COMPILER Guida Utente Pagina 172
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6 Program Architecture
6-10
This code shows how a model executes in a real-time multitasking system
(where the model is run at interrupt level).
rtOneStep()
{
Check for interrupt overflow
Enable "rtOneStep" interrupt
ModelOutputs(tid=0) -- Major time step.
LogTXY -- Log time, states and root outports.
ModelUpdate(tid=0) -- Major time step.
Integrate -- Integration in minor time step for
-- models with continuous states.
ModelDerivatives
Do 0 or more:
ModelOutputs(tid=0)
ModelDerivatives
EndDo (Number of iterations depends upon the solver.)
Integrate derivatives and update continuous states.
EndIntegrate
For i=1:NumTasks
If (hit in task i)
ModelOutputs(tid=i)
ModelUpdate(tid=i)
EndIf
EndFor
}
main()
{
Initialization (including installation of rtOneStep as an
interrupt service routine, ISR, for a real-time clock).
While(time < final time)
Background task.
EndWhile
Mask interrupts (Disable rtOneStep from executing.)
Complete any background tasks.
Shutdown
}
- Real-Time Workshop 1
- How to Contact The MathWorks: 2
- Targeting Custom Hardware 12
- Real-Time Workshop Libraries 13
- Contents 14
- Real-Time Workshop Ada Coder 15
- Glossary 16
- Foreword 17
- Foreword 18
- What Is MATLAB? 19
- What Is Simulink? 20
- What Is Stateflow? 21
- How to Use This Guide 23
- Boldface with an 23
- File menu 23
- Installation 24
- System,gototheEnvironment 25
- Where to Go from Here 27
- Introduction to the 29
- The Real-Time Workshop 31
- Types of Output 32
- The Rapid Prototyping Process 34
- Using External Mode 37
- Modeling Systems in Simulink 38
- Algorithm Design and Analysis 39
- Target Language Compiler 42
- Make Utility 42
- S-Functions 43
- The Build Procedure 43
- Basic Features of example.rtw 45
- Basic Features of example.c 47
- Bundled Target Systems 48
- Getting Started with the 51
- 2. Customizing Generated Code 54
- 3. Optimizing Generated Code 55
- 4. Validating Generated Code 55
- 8. Code Tracing 56
- 9. Automatic Build Procedure 56
- 10. Parameter Tuning 56
- Simulation Parameters dialog 58
- The Build Process 59
- Specifying Model Parameters 60
- The Simulink Model 62
- Setting Program Parameters 64
- Customizing the Build Process 66
- Inline parameters check 66
- Data Logging 67
- The UNIX Template Makefile 68
- PC Template Makefiles 69
- Generic Real-Time Modules 70
- Continuous Blocks 71
- Discrete Blocks 71
- Nonlinear Blocks 71
- Analyzing Data with MATLAB 76
- Tracing Generated Code Back 76
- Targeting dSPACE 78
- Motherboard “host” 79
- Embedded cards 79
- (target system) 79
- PC chassisMonitor/keyboard 79
- Real-Time Interface (RTI) 80
- Code Generation and the 83
- Build Process 83
- Automatic Program Building 85
- Build button on the 85
- Inline Parameters 92
- Retaining the model.rtw File 93
- Template Makefile 93
- Make Command 93
- Options Button 97
- System Target File Browser 98
- S3 in this block 99
- S3 in the generated 99
- Tunable Parameters 100
- Signal Properties 101
- .tlc) files. These files are 104
- Template Makefiles 105
- Make Utilities 108
- Simulation 109
- Parameters 109
- Generic Real-Time Templates 114
- File and Function Splitting 120
- Code Generation Options 122
- Function Management pull-down 122
- Function Split Threshold 122
- External Mode 125
- Introduction 126
- 4 External Mode 130
- Signals & Triggering 131
- -tf switch overrides the 133
- A and B.WithA=2 and B=3,the 133
- External Mode GUI 134
- External Mode Control Panel 134
- Target Interface 135
- Data Archiving 139
- Update Diagram 142
- Using the TCP Implementation 146
- External Target 146
- Interface 146
- External 148
- MEX-File Optional Arguments 148
- Options on the Real-Time 149
- Possible Error Conditions 150
- Data Logging and Signal 153
- Monitoring 153
- MAT-File Data Logging 154
- Make command 154
- To File Block MAT-Files 154
- C API for Signal Monitoring 156
- Program Architecture 163
- Model Execution 166
- SimStruct,but 187
- The main Function 189
- Initialization 189
- Program Termination 190
- Components 190
- The SimStruct Data Structure 194
- — MdlInitializeSampleTimes 195
- Inlining S-Functions 196
- Embedded Program Framework 198
- Models with Multiple 201
- Sample Rates 201
- Solver options pull-down 203
- Executing Multitasking Models 205
- Lowest Priority 206
- Highest Priority 206
- Singletasking 208
- Executing Models in Real-Time 209
- Multitasking Operation 210
- Singletasking Operation 210
- Sample Rate Transitions 211
- T=1sec T=2sec 212
- T=2s T=1s 212
- T=1sT=1s T=1s 212
- T=2sT=1s 212
- Unit Delay 218
- Targeting Tornado for 219
- Real-Time Applications 219
- VxWorks Support library 221
- Help button on the 222
- WindSh (the 223
- StethoScope 226
- Host Processes 227
- VxWorks Tasks 227
- Implementation Overview 229
- VxWorks Configuration 231
- Downloading Configuration 232
- Simulation menu: 233
- Step Size 233
- Initiating the Build 236
- Running the Program 237
- Targeting DOS for 241
- Hardware Requirements 246
- Software Requirements 246
- Device Drivers 246
- Simulink Host 247
- Modifying Program Timing 248
- Device Driver Blocks 249
- '0x300') 252
- [-10 10] volts. Refer 252
- [lo hi],for 254
- Including Device Driver Code 255
- Building the Program 256
- Targeting Custom 259
- Hardware 259
- Run-Time Interface 262
- Implementing Device Drivers 265
- Required Functions 267
- S_FUNCTION_NAME Definition 269
- Level 2 S-Function Definition 269
- Defining the SimStruct 269
- Initializing Sample Times 273
- Initializing the I/O Device 274
- Accessing the Hardware 275
- ADC Outputs 275
- DAC Outputs 275
- The Termination Function 276
- Libraries 279
- Custom Code Library 282
- MdlStart 284
- Function Custom Code 284
- Interrupt Handling 287
- Rate Transition Block Example 302
- Library for Your System 303
- Configuring Real-Time 305
- Workshop for Your 305
- Application 305
- Real-Time Code Format 314
- Real-Time malloc Code Format 316
- Embedded-C Code Format 318
- Local block outputs 319
- Unsupported Blocks 320
- System Target File 320
- S-Function Code Format 322
- Restrictions 324
- General Modeling Techniques 325
- Stateflow Optimizations 326
- Simulation Parameters 326
- Diagnostic Page 327
- Real-Time Workshop Page 327
- Compiler Options 329
- Rapid Simulation Target 331
- Browse button and 334
- System Target 334
- File Browser 334
- Build buttonontheReal-Time 336
- Simulation Performance 343
- Carlo simulations 344
- Ada Coder 345
- Getting Started 350
- Generating Ada Code 352
- Generated Files 353
- Parameters field blank) 354
- Generating the Ada Code 355
- Signal_Name is declared in 360
- Code Validation 362
- Supported Blocks 365
- Directory Tree 369
- Directory Purpose 374
- B Glossary 378
- See Rsim 13-2 384
- SimStruct data structure 385
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