Real-Time Workshop 2.2

Asynchronous Processes

• Interrupt block
• Task Synchronization block
• Asynchronous Buffer Reader/Writer blocks
• Asynchronous Rate Transition block

RTWlib

• VxWorks Tornado -- blocks for Matrix, Xycom, and VME Microsystems I/O support; and asynchronous blocks for ISR support
• DOS -- blocks for Keithley-Metrabyte I/O support
• Custom Code -- blocks for inserting your custom code into the code that the Real-Time Workshop generates from your model
• Create Your Own Asynchronous Library -- templates that use the VxWorks asynchronous blocks as a starting point for developing your own asynchronous blocks
• Real-Time Workshop extras -- contains a Function-call Configuration block

Merge Block Added

Level 2 S-Functions

• Multiple input and output ports
• More simulation S-function routines:
  • mdlProcessParameters, which is called during simulation after parameters have been changed and verified by mdlCheckParameters
  • mdlStart, which performs actions such as allocating memory and attaching to pwork elements. Can only be in a C MEX S-function
• mdlRTW, a method for code generation in which your S-function influences the code generation process.

In mdlRTW, you can write additional subrecords into the model.rtw file for the S-function block record. The Target Language Compiler (TLC) file that inlines your S-function can use this information. For more details about Level 2 S-functions, see Writing S-Functions.

Target Language Compiler (TLC) Enhancements

Passing Parameters: mdlRTW and RTWData

• mdlRTW -- Used with Level 2 S-functions
• RTWData -- Used with any nonvirtual Simulink block and with empty subsystems

static void mdlRTW(SimStruct *S)
{
    int_T numElements = mxGetNumberOfElements(TASK_NAME);
    char *buf = NULL;
    
    if ((buf = malloc(numElements +1)) == NULL) {
        ssSetErrorStatus(S,"memory allocation error in mdlRTW");
        return;
    }
    if (mxGetString(TASK_NAME,buf,numElements+1) != 0) {
        ssSetErrorStatus(S,"mxGetString error in mdlRTW");
        free(buf);
        return;
    }
    /* Write out the parameters for this block.*/
    if (!ssWriteRTWParamSettings(S, 3, 
         SSWRITE_VALUE_QSTR,"TaskName", buf,
         SSWRITE_VALUE_NUM,"Priority",
         (real_T) (*(mxGetPr(PRIORITY))),
         SSWRITE_VALUE_NUM,"StackSize",
         (real_T) (*(mxGetPr(STACK_SIZE))))) {
        return; /* An error occurred which will be reported by SL */
    }
    
    /* Write out names for the IWork vectors.*/
    if (!ssWriteRTWWorkVect(S, "IWork", 1, "TaskID", 1)) {
        return; /* An error occurred which will be reported by SL */
    }
    
    /* Write out names for the PWork vectors.*/
    if (!ssWriteRTWWorkVect(S, "PWork", 1, "SemID", 1)) {
        return; /* An error occurred which will be reported by SL */
    }
    
    free(buf);
}

    Block {
      . . .
      SFcnParamSettings {
    TaskName""
    Priority20
    StackSize1024
      }
      NumIWorkDefines      1
      IWorkDefine {
    Name         "TaskID"
    Width        1
      }
      NumPWorkDefines      1
      PWorkDefine {
    Name         "SemID"
    Width        1
      }
    }

set_param(gcb,'rtwdata',userdata)

userdata.a = 'rpm'
userdata.b = '1.25'

Block {
. . .
  RTWdata {
    a    "rpm"
    b    "1.25"
  }
}

System {
. . .
  EmptySubsysInfo {
    NumRTWdatas    1
    RTWdata {
      a    "rpm"
      b    "1.25"
    }
  }
}