MDSD using The MathWorks flow

Massimo Violante
Politecnico di Torino
Dip. Automatica e Informatica
Torino, Italy
 Our goal
n To generate real-time sw starting from Simulink
models
n Assumptions:
n Hard real-time tasks à deadlines cannot be missed
n Periodic tasks à infinite sequence of identical instances
periodically released
n Deadline for the task is equal to the task period T

τ0 τ1 τ2 τn

Task period T
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 Simulink solver
n A model is defined by:
n Output function:𝑦" = 𝜆(𝑢" , 𝑚" )
n State function: 𝑠"+, = 𝛿 𝑢" , 𝑚"
n Where:
n 𝑡 =current time
𝑢" 𝑦"
n 𝑢 =input Model
n 𝑦 =output 𝑚"
n 𝑚 =state
n Δ = step size

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 Simulink solver
n The solver operates as follows:
n 1 - At time 𝑡, given input 𝑢" and state 𝑚"
n Compute output 𝑦" = 𝜆(𝑢" , 𝑚" )
n Compute next state 𝑛𝑠 = 𝑚"+, = 𝛿 𝑢" , 𝑚"
n Compute next time Δ
n 2 - Update time 𝑡 = 𝑡 + Δ, set 𝑚" = 𝑛𝑠
n 3 - Repeat from 1
n The step size Δ depends on the adopted solver

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 Solvers
n Fixed-step solvers
n Solve the model at regular time intervals à Δ is chosen a
priori
n Decreasing the step size increases the accuracy of the
results while increasing the time required to simulate the
system
n Variable-step solvers
n Solve the model choosing Δ at each solver iteration
n Reducing the step size to increase accuracy when a model's
states are changing rapidly and increasing the step size to avoid
taking unnecessary steps when the model's states are changing
slowly

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 Solvers
n Continuous solvers
n Use numerical integration to compute a model's
continuous states at the current time step based on the
states at previous time steps and the state derivatives
n Continuous solvers rely on the individual blocks to
compute the values of the model's discrete states at each
time step
n Discrete solvers
n Solve purely discrete models
n They compute the next simulation time step for a model
n They rely on each block in the model to update its
individual discrete states
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 Selecting the solver for sw
n Sw scheduling
τ0 τ1 τ2 τn

Task period T

n Solver configuration
n Discrete solver
n Fixed-step solver, with step size Δ equal to task period T

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 Example
n See 00_dummy_model example

n Solver is fixed step discrete with 10 msec step size

n Code generator is set to use:
n ert.tlc
n reusable function interface
n modular file placement 8
 Code generation
n Using algorithm export, and the above
configurations, the following code is produced
Embedded coder
output

Simulink input ert_main.c Testbench for

the model

𝑢" 𝑦"
model model.c
Source code for
the model
𝑚"
model.h
Model-specific
data types

Hw-specific
rtwtypes.h
data types
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 Code generation
The model is translated into three functions:
Embedded coder § initialize(M, U, Y): to reset the model state
output M;
§ step(M, U, Y): to execute one solver step
ert_main.c for the model
§ terminate(M, U, Y): to clean-up memory
after the last execution of the model
model.c
initialize(M, U, Y)
{…}

step(M, U, Y)
model.h {…}

terminate(M, U, Y)
{…}
rtwtypes.h

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 Code generation
Embedded coder
output

ert_main.c Translates the Simulink native data types

(e.g., char) into the hw-specific data types
(e.g., int8_T)
model.c
typedef signed char int8_T;
.
.
model.h .

rtwtypes.h

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 Code generation
Embedded coder
output main()
{
ert_main.c initialize(M, U, Y);

while( stop == FALSE )

{
model.c
step(M, U, Y);
wait_for(Δ);
}
model.h terminate(M, U, Y);
}

rtwtypes.h

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 Code generation
n Full executable export takes care of:
n Creating task for model execution, and device driver for
I/O
n Sequencing operations:
n Acquisition of inputs from the plan
n Execution of the controller model
n Application of outputs to the plant
n Advantages:
n Very simple once I/O drivers are modeled
n Limitations:
n Limited expandability to unsupported I/O
n Limitations on scheduling period
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 Example 1
n HC-SR 04 Ultrasonic Sensor is not supported,
custom code must be written
n HC-SR 04 specs
n Maximum range: 400 cm à pulse duration = 23200 µsec
n Minimum range: 2 cm à pulse duration = 116 µsec
n MathWorks PSP for FRDM K64 accept 1 msec as shortest
step size
n Unsuitable for handling the HC-SR 04
n Algorithm export is needed + custom made sw
n Algorithm and custom sw must be integrated manually

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 The target system
Algorithm export Control Application

Application Framework SW

Custom SW Process Scheduler

platform Drivers
Resource Manager

Communication Actuators
interfaces
CPU Memory I/O HW
Special
Sensors interfaces

HW platform
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 Example 1
n Two GPIOs (other than 5V Vcc and GND) are
needed to manage the HCSR-04
n Trigger to generate a 10 µsec pulse
n Echo to read the pulse proportional
to the object distance
n The SW platform shall:
n Trigger the sensor
n Read the distance
n Call the step function according to the
selected time step

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo
Digital output assigned to the pin D2
#include "mbed.h” int main()
{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); Digital input assigned to the pin D4, it generates an
{
} pc.printf( "Reading inputs....\n\r" );
interrupt when the pin value changes
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;

void
Hardware timer to measure
start( void )
trigger = 0;

{ pulse duration while (true)

t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
Functions to be invoked in response to
n Code for managing Trigger
rising event (0à1)and Echoevent (1à0)
and falling
on pin D4
#include "mbed.h” int main()
{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
Generate
void 10 µsec
start( voidpulse
)
trigger = 0;

{ on D2, 0à1à0 while (true)

t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
On raising edge (0à1) on D4,
InterruptIn echo(D4);
start time measure
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float On falling edge (1à0) on
distance; D4, stop
distance = 0; time
trigger = 0;
void measure,
start( void ) read the timer and compute
{
t.start(); the distance
while (true)
{
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

Simple, serial-based I/O{using
DigitalOut
InterruptIn
the USB
trigger(D2);
echo(D4);
connector t.reset();

Timer t; echo.rise( &start );

echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing Trigger and Echo

#include "mbed.h” int main()

{
DigitalOut trigger(D2); t.reset();
InterruptIn echo(D4);
Timer t; echo.rise( &start );
echo.fall( &stop );
Serial pc(USBTX, USBRX); // tx, rx
float distance; distance = 0;
trigger = 0;
void start( void )
{ while (true)
Wait 1 sec before repeating all
t.start(); {
} pc.printf( "Reading inputs....\n\r" );
the operations again trigger = 1;
void stop( void ) wait_us( 10 );
{ trigger = 0;
t.stop(); pc.printf( "\n\rD: %.3f\n\r", distance );
distance = t.read_us()/58.0; wait( 1.0f );
t.reset(); }
} }

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 www.mbed.org
n Code for managing scheduler

#include "mbed.h” Define a free running counter

Ticker S;

void do_step( void )

{
// step the model
} Every 0.1 sec of the counter,
int main() call do_step()
{
S.attach( &do_step, 0.1 );

while (true)
{
}
}

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 Example 2
n Blink the RED led with a rate proportional to the
measured distance, the shorter the distance, the
higher then blinking rate
n If distance < 200àrate is set to distance/100
n Otherwise, it is 1 sec

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