MATLAB REAL-TIME WORKSHOP EMBEDDED CODER - S Manuale Utente Scaricare il pdf (Pagina 24)

TargetLink:

C__I16FITI32_SAT is a function called in more than one place in the code.

Real-Time Workshop Embedded Coder:

In the process one thread usually runs for the pressure controller. This thread is

called CtrlTorqueUpdate and the execution time for that thread is saved in the

vector RedThreadMaxTimes. Execution time is shown in the table below. The test

was carried out for different inputs of the actual pressure and the results are

summarised in Table 3 below.

Actual Pressure TargetLink

(μs)

Real-Time Workshop

Embedded Coder (μs)

Hand-written

Code (μs)

6 Bar

596 692 648

12 Bar

597 694 638

40 Bar

568 694 602

Fluctuating

between

10-20 Bar

592 694 640

Table 3: Execution times

The table shows that TargetLink has the smallest execution time in all ranges of

input.

/* Sum: PressureController/PID controller/I-part/TrackingError */

Aux_I32 = (LONG) (((ULONG) (LONG) (I32UIn >> 1)) - ((ULONG) (LONG)

(X_Sa2_VOld >> 14)));

I16TrackingError = C__I16FITI32_SAT(Aux_I32, 32767

/*0.0004882663488 */);

/* Sum: '<S4>/TrackingError' incorporates:

* UnitDelay: '<S1>/VOld'

tmp_1 = (localDW->VOld_DSTATE >> 14);

if (tmp_1 > 32767L) {

tmp_0 = MAX_int16_T;

} else if (tmp_1 <= -32768L) {

tmp_0 = MIN_int16_T;

} else {

tmp_0 = (INT)tmp_1;

}

tmp_1 = (LONG)(rtu_U >> 1) - (LONG)tmp_0;

if (tmp_1 > 32767L) {

tmp_0 = MAX_int16_T;

} else if (tmp_1 <= -32768L) {

tmp_0 = MIN_int16_T;

} else {

tmp_0 = (INT)tmp_1;

}

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MATLAB REAL-TIME WORKSHOP EMBEDDED CODER - S Manuale Utente Pagina 24

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