Real-Time Workshop User's Guide Preface Chapter Summary Related Products Installing the Real-Time Workshop Third-Party Compiler Installation on Windows Supported Compilers Compiler Optimization Settings Typographical Conventions Introduction to the Real-Time Workshop Product Summary Getting Started: Basic Concepts and Tutorials Tutorial 1: Building a Generic Real-Time Program Tutorial 2: Data Logging Tutorial 3: Code Validation Tutorial 4: A First Look at Generated Code Where to Find Information in This Manual Technical Overview The Rapid Prototyping Process Key Aspects of Rapid Prototyping Rapid Prototyping for Digital Signal Processing Rapid Prototyping for Control Systems Open Architecture of the Real-Time Workshop Automatic Program Building Steps in the Build Process Code Generation and the Build Process Introduction Overview of the Real-Time Workshop User Interface Using the Real-Time Workshop Page Target Configuration Options General Code Generation Options Target Specific Code Generation Options TLC Debugging Options Real-Time Workshop Submenu Simulation Parameters and Code Generation Solver Options Workspace I/O Options and Data Logging Diagnostics Page Options Advanced Options Page Tracing Generated Code Back to Your Simulink Model Other Interactions Between Simulink and the Real-Time Workshop Selecting a Target Configuration The System Target File Browser Available Targets Nonvirtual Subsystem Code Generation Nonvirtual Subsystem Code Generation Options Modularity of Subsystem Code Generating Code and Executables from Subsystems Parameters: Storage, Interfacing, and Tuning Storage of Nontunable Parameters Tunable Parameter Storage Storage Classes of Tunable Parameters Using the Model Parameter Configuration Dialog Tunable Expressions Tunability of Linear Block Parameters Signals: Storage, Optimization, and Interfacing Signal Storage Concepts Signals with Auto Storage Class Declaring Test Points Interfacing Signals to External Code Symbolic Naming Conventions for Signals in Generated Code Summary of Signal Storage Class Options C API for Parameter Tuning and Signal Monitoring Target Language Compiler API for Parameter Tuning and Signal Monitoring Parameter Tuning via MATLAB Commands Simulink Data Objects and Code Generation Overview Parameter Objects Signal Objects Object Property Information in the model.rtw File Configuring the Generated Code via TLC Target Language Compiler Variables and Options Making an Executable Directories Used in the Build Process Choosing and Configuring Your Compiler Template Makefiles and Make Options Compiler-Specific Template Makefiles Template Makefile Structure Generated Code Formats Introduction Choosing a Code Format for Your Application Real-Time Code Format Unsupported Blocks System Target Files Template Makefiles Real-Time malloc Code Format Unsupported Blocks System Target Files Template Makefiles S-Function Code Format Embedded C Code Format External Mode Introduction Tutorial: Getting Started with External Mode Using GRT Part 1: Setting Up the Model Part 2: Building the Target Executable Part 3: Running the External Mode Target Program Part 4: Tuning Parameters Using the External Mode User Interface External Mode Related Menu and Toolbar Items External Mode Control Panel Connection and Start/Stop Controls Target Interface Dialog Box External Signal & Triggering Dialog Box Data Archiving Parameter Download Options External Mode Compatible Blocks and Subsystems Compatible Blocks Signal Viewing Subsystems Overview of External Mode Communications The Download Mechanism The TCP/IP Implementation Overview Using the TCP/IP Implementation The External Interface MEX-File External Mode Compatible Targets Running the External Program Error Conditions Implementing an External Mode Protocol Layer Limitations of External Mode Program Architecture Introduction Model Execution Program Timing Program Execution External Mode Communication Data Logging In Single- and Multitasking Model Execution Rapid Prototyping and Embedded Model Execution Differences Rapid Prototyping Model Functions Embedded Model Functions Rapid Prototyping Program Framework Rapid Prototyping Program Architecture Rapid Prototyping System Dependent Components Rapid Prototyping System Independent Components Rapid Prototyping Application Components Embedded Program Framework Models with Multiple Sample Rates Introduction Single- Versus Multitasking Environments Executing Multitasking Models Multitasking and Pseudomultitasking Building the Program for Multitasking Execution Singletasking Building the Program for Singletasking Execution Model Execution Simulating Models with Simulink Executing Models in Real Time Sample Rate Transitions Faster to Slower Transitions in Simulink Faster to Slower Transitions in Real Time Slower to Faster Transitions in Simulink Slower to Faster Transitions in Real Time Optimizing the Model for Code Generation General Modeling Techniques Block Diagram Performance Tuning Look-Up Tables and Polynomials Accumulators Use of Data Types Stateflow Optimizations Simulation Parameters Compiler Options Real-Time Workshop Embedded Coder Introduction Real-Time Workshop Embedded Coder Demos Data Structures and Code Modules Real-Time Object Code Modules Program Execution Overview Main Program rt_OneStep Model Entry Points Automatic S-Function Wrapper Generation Optimizing the Generated Code Basic Code Generation Options Generating Code from Subsystems Generating Block Comments Generating a Code Generation Report Controlling Stack Space Allocation Advanced Code Generation Options Create Simulink (S-Function) Block Generate HTML Report Generate ASAP2 File Requirements and Restrictions Unsupported Blocks System Target File and Template Makefiles The S-Function Target Introduction Intellectual Property Protection Creating an S-Function Block from a Subsystem Tunable Parameters in Generated S-Functions Automated S-Function Generation Restrictions Unsupported Blocks System Target File and Template Makefiles System Target File Template Makefiles Real-Time Workshop Rapid Simulation Target Introduction Building for the Rapid Simulation Target Running a Rapid Simulation Simulation Performance Batch and Monte Carlo Simulations Limitations Targeting Tornado for Real-Time Applications Introduction Confirming Your Tornado Setup Is Operational VxWorks Library Run-Time Architecture Overview Parameter Tuning and Monitoring Run-Time Structure Implementation Overview Adding Device Driver Blocks Configuring the Template Makefile Tool Locations Building the Program Downloading and Running the Executable Interactively Targeting DOS for Real-Time Applications Introduction DOS Device Drivers Library Implementation Overview System Configuration Sample Rate Limits Device Driver Blocks Device Driver Block Library Configuring Device Driver Blocks Adding Device Driver Blocks to the Model Building the Program Running the Program Custom Code Blocks Introduction Custom Code Library Model Code Sublibrary Subsystem Code Sublibrary Asynchronous Support Introduction Interrupt Handling Asynchronous Interrupt Block Task Synchronization Block Asynchronous Buffer Block Rate Transition Block Creating a Customized Asynchronous Library Real-Time Workshop Ada Coder Introduction Real-Time Workshop Ada Coder Applications Supported Compilers Supported Targets The Generated Code Types of Output Supported Blocks Restrictions Getting Started Models with S-Functions Configuring the Template Makefile Data Logging Generating Block Comments Application Modules Required for the Real-Time Program Configuring and Interfacing Parameters and Signals Model Parameter Configuration Signal Properties Code Validation Analyzing Data with MATLAB Supported Blocks Targeting Real-Time Systems Introduction Components of a Custom Target Configuration Code Components User-Written Run-Time Interface Code Run-Time Interface for Rapid Prototyping Run-Time Interface for Embedded Targets Control Files Tutorial: Creating a Custom Target Configuration Customizing the Build Process System Target File Structure Adding a Custom Target to the System Target File Browser Template Makefiles Creating Device Drivers Inlined and Noninlined Drivers Device Driver Requirements and Limitations Parameterizing Your Driver Writing a Noninlined S-Function Device Driver Writing an Inlined S-Function Device Driver Building the MEX-File and the Driver Block Source Code for Inlined ADC Driver Interfacing Parameters and Signals Signal Monitoring via Block Outputs Parameter Tuning via model_pt.c Target Language Compiler API for Signals and Parameters Creating an External Mode Communication Channel The Design of External Mode Overview of External Mode Communications External Mode Source Files Guidelines for Implementing the Transport Layer Combining Multiple Models DSP Processor Support Blocks That Depend on Absolute Time Glossary