Mathworks EMBEDDED IDE LINK 4 user guide

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Embedded IDE Link™

User’s Guide

For Use with Altium®TASKING

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Embedded IDE Link™ User’s Guide

The software described in this document is furnished under a license agreement. The software may be used or copied only under the terms of the license agreement. No part of this manual may be photocopied or reproduced in any form without prior written consent from The MathW orks, Inc.

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Revision History

May 2006 Online only New for Version 1.0 (Release 2006a+) September 2006 Online only Version 1.0.1 (Release 2006b) March 2007 Online only Version 1.1 (Release 2007a) September 2007 Online only Revised for Version 1.2 (Release 2007b) March 2008 Online only Revised for Version 1.3 (Release 2008a) October 2008 Online only Revised for Version 1.3.1 (Release 2008b) March 2009 Online only Revised for Version 1.4 (Release 2009a) September 2009 Online only Revised for Version 4.0 (Release 2009b) March 2010 Online only Revised for Version 4.1 (Release 2010a)

Getting Started

Product Overview ................................. 1-2

Introduction Project Generator Automation Interface Verification Optimization

...................................... 1-2

................................. 1-3

.............................. 1-3

...................................... 1-4

..................................... 1-5

Contents

Software Requirements

Supported Altium TASKING Toolsets

Supported Versions Support for Other Versions

Using This Guide

Setting Target Preferences

Procedure Target Preference Fields

Working with Configuration Sets

Adding the Embedded IDE Link Configuration Set

Component Configuration Set Options Using Configuration Sets to Specify Your Target Setting Build Action

Accessing Utilities for TASKING

Embedded IDE Link Utilities for Use w ith TASKING

dialog Tools Menu Items

........................................ 1-10

......................................... 1-27

.................................. 1-9

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................ 1-7

................................ 1-7

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................... 1-16

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............................... 1-23

.................... 1-27

................................. 1-29

........ 1-19

Option Sets

....................................... 1-30

What Are Option Sets? ............................. 1-30

Supported DAS Software

........................... 1-32

Components

Project Generator ................................. 2-2

Overview of the Project Generator Component Project-Based Build Process Template Projects Shared Libraries Build Proces s — Folder Structure

................................. 2-4

.................................. 2-6

......................... 2-4

.................... 2-9

.......... 2-2

Automation Interface

Overview o f Automation Interface Component Classes Using Objects List of Methods Details of Particular Methods

.......................................... 2-14

..................................... 2-15

.............................. 2-13

.......... 2-13

................................... 2-22

....................... 2-25

Verification

Processor-in-the-Loop (PIL) Cosimulation ........... 3-2

Processor-in-the-Loop Overview PIL Workflow Creating a PIL Block Building, Running, and Debugging PIL Block

Applications

PIL Metrics

C Code Coverage Reports

.................................... 3-3

............................... 3-5

.................................... 3-8

...................................... 3-11

...................... 3-2

.......................... 3-13

vi Contents

Execution Profiling

CrossView Pro Execution Profiling

................................ 3-15

................... 3-15

Task Execution Profiling Kit for R eal-Time Workshop

Targets

........................................ 3-18

Stack Profiling

What Is Stack Profiling? PIL Applications Non-PIL Applications Infineon

Bidirectional T ra ce ability Between C od e and Model

Using Traceability Enabling Traceability

MISRA C Rule Checking

.................................... 3-19

............................ 3-19

.................................. 3-19

.............................. 3-20

TriCore Stack Depth Analyzer .............. 3-21

................................. 3-22

.............................. 3-23

............................ 3-25

Optimization

Compiler / Linker Optimiza tion Settings ............. 4-2

Target Memory Placement / Mapping

................ 4-3

.. 3-22

Execution and Stack Profiling

Execution Profiling Stack Profiling

Target Specific Optimizations

C Language Extensions / Intrinsics Target Optimized Libraries for Infineon XC166 and

Infineon

Target Optimized FIR / FFT Blocks for the Infineon

TriCore ........................................ 4-8

Model Advisor

TriCore ............................... 4-7

................................ 4-4

.................................... 4-4

..................................... 4-9

...................... 4-4

...................... 4-5

................... 4-5

vii

Tutorials

Tutorial: Using Option Sets ......................... 5-2

Tutorial: Creating New Template Projects

Creating New Template Projects Creating a New Config uration

Tutorial: Configuring an Existing Model for Embedded

IDE Link Software

............................... 5-9

..................... 5-4

....................... 5-7

........... 5-4

Configuration Parameters

Embedded IDE Link Pane .......................... 6-2

Overview Build Action Target Preference Configuration Add build directory suffix Build directory suffix Export EDE handle to MATLAB base workspace EDE handle name Export CrossView Pro handle to MATLAB base

workspace CrossView Pro handle name Configure model to build PIL algorithm object code PIL block action

........................................ 6-3

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.............................. 6-8

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...... 6-13

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viii Contents

Limitations and Tips

General Issues ..................................... A-2

Problems with InstallationsinRead-OnlyLocations Simulink Configuration Set Reference Not Supported

..... A-2

.... A-2

Serialization of Embedded IDE Link Objects Not

Supported

..................................... A-3

Debugger Issues

ARM CrossView Pro Debugger Fails with File | Open

Source Content

On-Chip Debugging/On-Chip PIL Not Supported on ARM

Hardware

Build Process Issues

Linker Errors Due to Limited Memory EDE Is Slow, Unrespo n sive, or Crashes Signal Processing Blockset Library Build Failures Memory Block Freed Twice Error 8051 EDE Cannot Compile Files with Long Names DSP563xx Toolset Support Limitations “Create, Build and Execute Application Project” Build

Action Fails C166 Toolset W arnings Build Error From Root Drive Location Limited Support for Nonfinite Values Memory Warning/Error Messages in the CrossView Pro

Command Window When Using the Instruction Set

Simulator C++ Co de Generation Not Supported Video and Image Pro cessing Blockset Library Not

Supported Noninlined S-functions Calling rt_matrx.c Not

Supported “Compiler optimization level” Configuration Parameter Has

No Effect Configuration Changes Cause Build Errors With Referenced

Models

................................... A-4

................................. A-4

...................................... A-4

............................... A-6

................ A-6

............... A-7

...... A-7

.................... A-8

...... A-8

................ A-8

................................... A-9

............................. A-10

................ A-10

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...................................... A-13

................. A-13

..................................... A-14

...................................... A-14

........................................ A-15

Processor-in-the-Loop Issues

Generic P IL Issues On-Chip PIL Not Supported on ARM Hardware 10-Second Pause on Termination of the CrossView Pro

Debugger DSP563xx Link-Order Issue Can Cause PIL Application

Failure No Support for TASKING Feature “Treat double as

float”

...................................... A-16

........................................ A-17

......................................... A-17

................................ A-16

....................... A-16

........ A-16

TASKING Optimization Settings May Cause Incorrect

Cosimulation Results

............................ A-18

Issues Using Real-Time Workshop Software Without

Real-Time Workshop

Real-Time Workshop grt.tlc-Based Targets Not Supported

for PIL "Save data to workspace" Causes Error DSP563xx Toolset Support Limitations Use ERT Target for Memory-Constrained Targets 8051 GRT Limitations

........................................ A-19

Embedded Coder Software .. A-19

................ A-19

....... A-20

............................. A-20

Index

x Contents

Getting Started

• “Product Overview” on page 1-2

• “Softw are Requirements” on page 1-6

• “Supported Altium TASKING Toolsets” on page 1-7

• “U sing This Guide” on page 1-9

• “Setting Target Preferences” on page 1-10

• “W orking with Configuration Sets” on page 1-16

• “Accessing Utilities for TASKING” on page 1-27

• “Option Sets” on page 1-30

1 Getting Started

Product Overview

Introduction

Embedded IDE Link™ software lets you build, test, and verify automatically generated code using the MATLAB products, and the Altium®TASKING®integrated development environment. Embedded IDE Link software makes it easy to verify code executing within the TASKING environment using a test harness model in Simulink. This processor-in-the-loop testing environment uses code automatically generated from Simulink models by the Real-Time Workshop product. A wide range of DSPs and 8-, 16- and 32-bit microprocessors and microcontrollers are supported including devices from the Infineon Renesas provides customizable templates for configuring hardware variants, automating MISRA C

In this section...

“Introduction” on page 1-2

“Project Generator” on page 1-3

“Automation Interface” on page 1-3

“Verification” on page 1-4

“Optimization” on page 1-5

, and Freescale™ product families. Embedded IDE Link software

code checking, and controlling the build process.

, Simulink®,andReal-TimeWorkshop

Embedded Coder™

1-2

With Embedded IDE Link software, you can use MATLAB and Simulink to interactively analyze, profile and debug target-specific code execution behavior within TASKING software. In this way, Embedded ID E Link software automates deployment of the complete embedded software application and makes it easy for you to assess possible differences between the model simulation and target code execution results.

Embedded IDE Link software consists of a Project Generator component, an Automation Interface component, and features for code verification and optimization. The following sections summarize these components and features.

Product Overview

Project Generator

• A u tomated project-based build p roces s

Automatically create and build projects f or code generatedbytheReal-Time Workshop or Real-Time Workshop Embedded Coder products.

• Highly customizable code generation

Use Embedded IDE Link software with any Real-Time Workshop System Target File (STF) to generate target-specific and optimized code.

• Highly customizable build process

Support for multiple TASKING Toolsets provides a route to a large number of different target hardware platforms. Further customization is possible by using custom project templates, giving access to all options supported by the TASKING Toolset.

• Automated download and debugging

Rapidly and effortlessly debug generated code in the CrossView Pro debugger, using either the instruction set simulator or real hardware.

Automation Inter face

• M ATLA B API for TASKING EDE (IDE)

Automate complex tasks in the TASKING ED E by writing MATLAB scripts to communicate with the EDE.

For example, you could

- Automate project creation, including adding source files, include paths,

and preprocessor defines.

- Configure batch building of projects.

- Launch a debugging session.

- Execute CodeWright API Library commands.

• M ATLA B API for TASKING CrossView Pro (Debugger)

Automate complex tasks in the TA SKING CrossView Pro debugger by writing MATLAB scripts to communicate with the CrossView Pro application, or debug and analyze interactively in a live MATLAB session.

1-3

1 Getting Started

For example, you could

- Automate debugging by executing commands from the powerful

CrossView Pro command language.

- Exchange data between MATLAB and the target running in the

CrossView Pro application.

- Set breakpoints, step through code, set parameters and retrieve profiling

reports

Verification

• Processor-in-the-loop (PIL) cosimulation

Use cosimulation techniques to verify generated code running in an instruction set simulator or real target environment.

• C Code Coverage

Use C code instruction coverage metrics from the CrossView Pro instruction set s imulator during PIL cosimulation to refine test cases.

1-4

• Execution Profiling

Use execution profiling metrics from the CrossView Pro instruction set simulator during PIL cosimulation to establish the timing requirements of your algorithm.

• Stack Profiling

Use s tack profiling metrics for PIL cosimulation or real-time applications to verify the amount of memory allocated for stack usage is sufficient.

• Bi-Directional Traceability Between Model and Code

Navigate to the generated code for a given Simulink block or, vice versa, to the Simulink block corresponding to a section of generated code.

• MISRA

Use the TASKING compiler generated MISRA report to check for an appropriate level of MISRA compliance for your application.

Checker

Product Overview

Optimization

• Compiler / Linker Optimization Settings

Use Template Projects to fully control compiler and linker optimization settings.

• T arget Memory Placement / Mapping

Use T emplate Projects to fully configure the target memory map.

• Execution Profiling

Use execution profiling metrics from the CrossView Pro instruction set simulator during PIL cosimulation to guide optimization of your algorithms.

• Stack Profiling

Use s tack profiling metrics for PIL cosimulation or real-time applications to optimize the amount of stack memory required for an application.

• T arget Optimized FIR / FFT Blocks for the Infineon

TriCore

Use example F I R / FFT blocks that call target optimized Infineon TriLib routines. These blocks can be over a hundred times faster than the regular blocks in the Signal Processing Blockset™ product. Additionally, create your own optimized blocks to provide m ore functionality.

1-5

1 Getting Started

Software Requirements

You must have the correct softw are installed. For example, the Simulink menu item Tools > Utilities for Use with TASKING(R) IDE is enabled only if Real-Time Workshop is installed in addition to MATLAB, Simulink, andEmbeddedIDELink.

For detailed information about the software and hardware required to use Embedded IDE Link with Altium TASKING, refer to www.mathworks.com/products/ide-link/requirements.html and www.mathworks.com/products/ide-link/altium-adaptor.html.

1-6

Supported Altium TASKING Toolsets

Supported Versions

Embedded IDE Link software includes at least one reference template project for each supported toolset. The reference projects were created for specific versions of each Altium TASKING toolset and were used by The M athWorks for qualification testing. The supported toolset versions are:

• Infineo n TriCore: TASKING VX-toolset for TriCore v2.5 r2

See a lso “Regenerate Template Projects to Use Selected Toolset Versions” on page 1-8.

• Infineon

• Renesas M16C: TASKING Tools for M16C v3.1 r1 patch 2

• ARM

Simulator only, see “On-Chip Debugging/On-Chip PIL Not Supported on ARM Hardware” on page A-4.

C166®: TASKING Tools for C166/ST10 v8.7 r1

: TASKING C Compiler for ARM v2.0 r2

Supported Altium®TASKING®Tool s ets

• F reescale DSP563xx: TASKING Tools for DSP563xx v3.5 r3 patch 2

• 8051: TASKING Tools for 8051 v7.2 r1

The Renesas R8C family is supported by the Renesas M16C TASKING Toolset.

The Freescale DSP566xx family is supported by the Freescale DSP563xx Toolset.

Support for Other Versions

Check the Embedded IDE Link Product Support page for patches and additional toolchain version information.

For minor release increments it may be sufficient to create new default template projects. To do this,

1 Specify the location of your TASKING toolset in the Target Preferences

(see “Setting Target Preferences” on page 1-10).

1-7

1 Getting Started

2 Close all projects/project spaces in the EDE, and close the EDE.

3 Move to a clean work folder or clean out the ex isting one.

4 Run the tasking_generate_templates co mmand. You must specify your

configuration description string, e.g.:

tasking_generate_templates('C166', true)

tasking_generate_templates('TriCore', true)

Note Make sure you check the Embedded IDE Link Product Support page for the latest information about toolchains qualified with the product. You may be able to obtain patches in order to use other toolsets.

1-8

Regenerate Template Projects to Use Selected Toolset Versions

The following toolsets should work after regenerating the template projects:

• TASKING VX-toolset for TriCore and PCP v2.5 r2

• As TASKING VX-toolset for TriCore v2.5 r2 but without On-Chip Debug

Support (OCDS)

• "TASKING C/C++ Compiler for ARM v2.0 r2"

Some TASKING packages do not include O n-Chip Debug Support (OCDS). For example, "TASKING C/C++, CrossView Pro SIM" does not include OCDS support, but "TASKING VX-Toolset" does. To use a package w ithout OCDS support you must regenerate the template projects as previously described.

Using This Guide

To get started with Embedded IDE Link software:

1 Follow the instructions in “Setting Target Preferences” on page 1-10.

2 After you set target preferences, follow the instructions in “Working with

Configuration Sets” on page 1-16 to see how to set up configurations using an example model.

Using This Guide

3 Try the demos

Access the d

IDE Link > De

4 See “Accessing Utilities for T A S KING” on pa ge 1-27 for a quick guide to the

to gain experience using Embedded IDE Link software.

emos by selecting Start > Links and Targets > Embedded

mos.

functionality available in the menus, with links to more information.

See the following chapters to learn about Embedded IDE Link software features:

• C h apter 2, “Components” explains the Embedded IDE Link software

components: the Project Generator build process, and the Automation Interface objects.

• C h apter 3, “Verification” describes how to use PIL cosimulation and other

product features for verification.

• Chapter 4, “Op timization” describes how to use product features for

optimization.

• Chapter 5, “Tutorials” contains instructions to show you how to create

new c onfigurations and tem plate projects, how to use Embedded IDE Link software with existing models, and how to use different bui ld actions.

1-9

1 Getting Started

Setting Target Preferences

Procedure

You must configure your target preferences to use Embedded IDE Link software.

Note Target preferences are persistent across MATLAB sessions. If you have used a previous version of Embedded IDE Link software, click Reset to Default before setting up your new preferences, to ensure you use the latest values for all fields.

1 Enter taskingutils in the Command Window.

The Embedded IDE Link Utilities for Use with TASKING dialog box appears.

1-10

Sele

The Target Preferences Configuration Selection dialog box appears.

Target Preferences from the list in the dialog box, and click OK.

Setting Target Preferences

3 Select or create a configuration:

• C h oose a predefined configuration from the list that matches your target.

• A lternatively, select

Create new configuration to create a new

configuration, and click OK. For new configurations, see the tutorial section “Creating a New Configuration” on page 5-7.

The E mbedded IDE Link Target Preferences dialog box appears. You can use this dialog box to configure the location of your Altium TASKING toolchain executable and other files.

4 Click the plus to expand Configuration Options. Similarly, expand

CrossView_Pro_Configuration and EDE_Configuration,asshownin

the example. This example is set up for the

Infineon C166 Simulator

configuration.

1-11

1 Getting Started

5 Replace the string <ENTER_TASKING_PATH> to complete the path to the

CrossView_Pro_Executable,theDOL_File,andtheEDE_Executable.

See the next section, “Target Preference Fields” on page 1-13, for details on each field. The following example is set up for the

Simulator

configuration.

Infineon TriCore

1-12

Setting Target Preferences

If you have multiple configurations, you have to set them up in your target preferences only once, and then it is simple to switch between them. See the tutorial example “Working with Configuration Sets” on page 1-16.

6 Click OK to dismiss the Embedded IDE Link Target Preferences dialog box.

The next section explains each target preference field.

Target Preference Fields

Enter tasking_edit_prefs in the Command Window.

•

Configuration

Select a configuration from the drop-down list. There are preconfigured configurations for

- C166

- TriCore

- M16C

- ARM

- DSP563xx

- 8051

If you have multiple configurations, you have to set them up in your target preferences only once, and then it is simple to switch between them. You can switch between them using this target preference field.

Select a free configuration number to set up a new configuration from scratch. See “Creating a New Configuration” on page 5-7.

•

Configuration_Description

The title of the configuration. After it is created, this title is the name that appears in the Target Preferences Configuration drop-downlistinthe Configuration Param eters dialog box. Edit this field to change the name of the configuration. These names are predefined for the preconfigured configurations. For a new configuration enter a descriptive name (do not include spaces).

•

CrossView_Pro_Executable

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1 Getting Started

Enter the full path to your TASKING CrossView Pro installation to replace the string

Infineon C166 Simulator:

D:\Applications\TASKING\c166\bin\xfw166.exe

• Initialization

This setting determines what the CrossView Pro Debugger e xecutes when it first starts. There are three options.

<ENTER_TASKING_PATH>. For example, for Configuration_1 for

- Use .st Initialization_File This option is the default setting.

“

.st” files are i n an internal file format used by The MathWorks

to provide initialization options to CrossView Pro software during debugger start up. For example, a configuration file ( of the option sets shipped with Embedded IDE Link software specifies a corresponding the

c166_default.st file, which includes basic initialization commands

for the C166 CrossView Pro Simulator. See “Option Sets” on page 1-30 for related information. To customize your CrossView Pro configuration, you should use one of the

.cfg) and target type for CrossView Pro to use. Each

.st file. For example, the c166_sim option set specifies

.ini initialization options.

.st file may specify a CrossView Pro

1-14

- Use .ini Initialization_File Use this option if you have a

custom initialization file for your custom configuration. Refer to your CrossView Pro application documentation for details.

.ini initialization file. The file should be a valid CrossView Pro

- Use CrossView Pro Default .ini File Use this option if you want

to run CrossView Pro Default Pro Debugger. When launching CrossView Pro software you may be prompted to make configuration selections. Refer to your CrossView Pro application documentation to find the location of this details of CrossVi ew Pro initialization files.

•

Initialization_File

Full path of the initialization file corresponding to the Initialization field.

DOL_File

•

The full path to the TASKING EDE DOL file. For example, the

Infineon_C166_Simulator Configuration has the <ENTER_TASKING

.ini file when launching the CrossView

.ini file, and for

Setting Target Preferences

PATH>_\etc\c166.dol as the dol file. You need to replace <ENTER_TASKING_PATH> with your real TASKING installation path.

EDE_Executable

•

Enter the full path to your TASKING EDE installation to replace the string

Infineon C166 Simulator,enter

D:\Applications\TASKING\c166\bin\ede.exe

<ENTER_TASKING_PATH>. For example, for Configuration_1 for

• Target_Project_Space

When you build models, new projects in the TASKING EDE will be created. These projects belong to the project space defined in this entry. The default setting is process expands the

$(DEFAULT_LOCATION)\projspace.psp. The code generation

$(DEFAULT_LOCATION) token based on the build folder

of the model, the model name, and model configuration settings, including the name of the template applicatio n project. You should avoid changing this default setting.

•

Template_Application_Project

When you build a Simulink model with Embedded IDE Link software, th e generated projects for your applicationintheTASKINGEDEhavethe same project settings as the template application project. This template project provides a centric place to manage the project options (e.g., compiler settings, linker settings, etc.) your Simulink models use during code generation. You can modify the project settings of the default template projects or create new ones. See “Accessing U tilities for TASKING” on page 1-27 for information on creating or opening template projects, and see “Template Projects” on page 2-4.

•

Template_Library_Project

ThesameastheTemplate_Application_Project field, but this is applicable for Library projects.

•

Use_State_File

Opens the TASKING EDE in its last saved state. For more information, refer to your TASKING EDE documentation.

1-15

1 Getting Started

Working with Configuration Sets

In this section...

“Adding the Embedded IDE Link Configuration Set Component” on page 1-16

“Configuration Set Options” on page 1-16

“Using Configuration Sets to Specify Your Target” on page 1-19

“Setting Build Action” on page 1-23

Adding the Embedded IDE Link Configuration Set Component

To add Embedded IDE Link configuration options to a model, select the menu item Tools > Embedded IDE Link > Add Embedded IDE Link Configuration to Model.

Similarly, you can use the menu item Remove Em bedded IDE Link

Configuration from Model to remove the configuration set component.

1-16

The following sections explain how to use the Embedded IDE Link configuration set component.

See also “Setting Up Configuration Sets” in the Simulink documentation for more information.

Configuration Set Options

To see Embedded IDE Link configuration options, navigate to the configuration parameters by any of the following paths:

• Simulation > Configuration Parameters in a model

• T ools > Embedded IDE Link > Options in a model

• View > Model Explorer in a model

Click Embed ded IDE Link to see the following option s .

Working with Configuration Sets

The following options are available under Build Configuration:

• Build action

Set w hat action to take after the Real-Time Workshop build proces s. You can create application and library projects in the Altium TASKING EDE and then stop, or you can also choose to build, execute, or debug. See “Setting Build Action” on page 1-23 for more details.

• Target Preferences Configuration

Select target preference configurations. The names correspond to the

Configuration Description for each configuration in the Target

Preferences dialog box. Click Edit Configuration to open the Target Preferences dialog box for the currently selected configuration. See “Using Configuration Sets to Specify Your Target” on page 1-19.

1-17

1 Getting Started

• A dd build subdirectory suffix

Select the check box to specify a model-specific suffix to be added the regular Real-Time Workshop build folder suffix. This setting is useful to avoid shared utility function code generation errors which occur because of conflicts over Real-Time Workshop utility functions shared between different models.

Clear this check box to use the default Real-Time Workshop build folder suffix. Not using an additional suffix may result in reb uilding shared libraries unnecessarily. See “Shared Libraries” on page 2-6 and particularly “Supporting Multiple Shared Utility Function Locations: Build Folder Suffix” on page 2-7 for details.

• Build subdirectory suffix

Enter in the edit box a model-specific suffix to be added the regular Real-Time Workshop build folder suffix.

The following options are available under Export Handles:

1-18

• E xport EDE handle to MATLAB base workspace

Select this check box to export the EDE object handle to the workspace.

• EDE handle name

EnteraMATLABvariablenamefortheexportedhandle.

• Export CrossView Pro handle to MATLAB base workspace

Select this check box to export the CrossView Pro object handle to the workspace.

• CrossV iew Pro handle name

EnteraMATLABvariablenamefortheexportedhandle.

See “Auto mation Interface” on page 2-13 for information on using these object handles.

The following options are available under Processor-in-the-Loop (PIL) Verification:

• Configure model to build PIL algorithm object code

Working with Configuration Sets

Select this bo x to build PIL algorith m code.

• PIL block action

Select one of the following PIL block actions

- Create PIL block, then build and download PIL application

Select this option to automatically build and download the PIL application after creating the PIL block. This option is the default when you s elect the option to configure the model for PIL.

- Create PIL block

Choose this to create the PIL block and then stop without building. You can build manually from the PIL block.

- None

Choose this to avoid creating a PIL block, for instance if you have already built a PIL block and do not want to repeat the action.

See “Processor-in-the-Loop (PIL) Cosimulation” on page 3-2 for more information on using PIL settings.

Using Configuration Sets to Specify Your Target

FollowthestepsinthisexampletoseewheretofindandchangeEmbedded IDE Link software settings. These steps are described to help you find the settings you need to get started using the demo models. To use the demos, you need to specify your target by working with configuration sets.

This example describes how to use Embedded IDE Link software to build a project from a demo model using two different toolchains. The instructions refer to C166 your toolchain as appropriate.

Finding the Embedded IDE Link Software Settings

1 Open the model tasking_demo_enginewc.

2 Double-click the Active Configuration Set block to op en the Model

Explorer (or select View > Model Explorer).

and T riCore®TASKING toolchains; adapt the instructions to

1-19

1 Getting Started

Under TASKING_demo_enginewc is a list of configuration sets you can review. The currently selected set is labeled

(Active).

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Reviewing and Changing the Configuration Settings

Inspect the active configuration set.

1 The default active configuration set for this model is C166.Ifyouwantto

use a different target, right-click the configuration set that matches your target, and select Activate.

2 Click Embedded IDE Link to see the configuration settings, as shown in

the following figure.

Working with Configuration Sets

3 The Target Preferences Configuration drop-down list shows all

available target preference configurations. After you have set up target preferences for particular configurations, you can switch between them here (or in the Target Preferences dialog box).

a Click Edit Configuration to inspect your current target preferences.

b Before building, you must replace the string <ENTER TASKING

PATH> CrossView_Pro_Executable,theDOL_File,andtheEDE_Executable.

to set up the correct paths to the target preferences

See “Setting Target Preferences” on page 1-10.

c Click OK to dismiss the Target Preferences dialog box.

In the E mbedded IDE Link demos, when you activate a configuration (e.g.,

C166), the appropriate Target Preferences Configuration is

automatically selected. You may want to select a different target preference configuration description, e.g., if you have set up a custom configuration (such as

C167_user_hardware). For an example, see “Creating a New

Configuration” on page 5-7.

See “Adding the Embedded IDE Link Configuration Set Component” on page 1-16 for information on other Embedded IDE Link software settings in the Configuration Parameters.

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1 Getting Started

4 Click Real-Time Workshop to see the selected system target file.

Note You can use a configuration set specifying any system target file

with Embedded IDE Link software.

5 Click Hardware Implementation to see the C166 settings. If you

are using a different target, make sure the settings match your device. Select from the Device type list. There are custom configurations and preconfigured settings that include the following processors:

• Infineon C16x, XC16x

• Infineon TriCore

• ARM 7/8/9

• Renesas M16C

• 8051 Compatible

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• Freescale DSP563xx (16-bit mode)

Close the M odel Explorer.

6 In the model tasking_demo_enginewc, right-click the t_eng_speed

subsystem, and select Real-Time Workshop > Build Subsystem.Click Build in the dialog box to continue.

Watch the output messages in the MATLAB Command Window as co de is generated, your TASKING toolchain EDE is launched, and a new project created.

Switching Target Preference Configurations

If you have multiple toolchains, you only have to set up your target preferences once. After this initial setup, it is simple to switch between different configu rations. For example, to switch configurations from C166 to TriCore targets:

1 In the model tasking_demo_enginewc, double-click the Active

Configuration Set

block to open the Model Explorer.

Working with Configuration Sets

2 Right-click TriCore and select Activate. Close the Model Explorer.

3 To rebuild the subsystem with the new settings, right-click the t_eng_speed

subsystem, and select Real-Time Workshop > Build Subsystem.

Watch the output in the MATLAB Command Window as code is generated, the TASKING C16 6 EDE is closed, the TA S KIN G TriCore EDE is launched, and the new project created.

You can follow similar steps to specify your target in the other demo models. To view the demos, select Start > Links and Targets > Embedded IDE Link > Demos.

To switch between simulator and hardware implementations for the same target configuration, you can use option sets. See “Option Sets” on page 1-30.

The n ext section describes using the build action setting in this example.

Setting Build Action

In this example, the model tasking_demo_enginewc is set up so the project is created but not built in the TASKING EDE.

To view this setting:

1 In the model tasking_demo_enginewc, select

Simulation > Configuration Parameters.

2 Click Embedded IDE Link to see the Build Configuration parameters.

3 Look at the Build A ction drop-down list.

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1 Getting Started

1-24

Using this drop-down list, you can set wh at action to take after the Real-Time Workshop build process completes. You can create application and l ibrary projects in the TASKING EDE and then stop, or you can also choose to build, execute, or debug.

Ifyouchoosetobuild,execute,ordebug,theCrossViewProapplication will be launched.

Note The first time you build this model it will take a few minutes to compile the required Real-Time Workshop floating point library. This library is not rebuilt on subsequent builds unless necessary.

You can use the Build Action setting to do the following:

Create Application Project

•

Generates code for the model or subsystem, creates a TASKING application project for the selected TASKING configuration, connects to the TASKING EDE, and opens the application project (in addition to the required Real-Time Wo rkshop and Signal Processing Blockset Library

Working with Configuration Sets

projects, if required) in the TASKING EDE. This option does not build or execute the application.

EDE_Obj object handle is exported to the MATLAB workspace (if

the option E xport EDE handle to MATLAB base workspace is selected). This object allows you to interact with the TASKING EDE from MATLAB. For more information, see the section on using object handles, “Automation Interface” on page 2-13.

Note To manually build the generated project in the TASKING EDE, right-click on the application project (starts with the same name as the model name), and select Build.

• Create Library Project

Performs the same actions as Create Application Project,butthis option archives the generated code into a library in the TASKING EDE. No

main.c file is generated.

Create and Build Application Project

•

Performs the same actions as Create Application Project,butalso instructs theTASKING EDE to build the application project.

Note To manually debug the executable from the application project, click the Debug Application icon in the TASKING EDE.

• Create and Build Library Project

PerformsthesameactionsasCreate Library Project,butalso instructs the TASKING EDE to build the Library project.

•

Create, Build and Execute Application Project

PerformsthesameactionsasCreate and Build Application Project andalsodownloadstheexecutablefiletoyourCrossViewTargetand runs the executable. No debugging information is downloaded into the target with this option.

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1 Getting Started

A CrossView Pro object handle is exported to the MATLAB workspace (if the option Export CrossView Pro hand le to MATLA B base workspace is selected). This object allows you to interact with the CrossView Pro debugger from MATLAB. For more information, see the section on using object handles, “Automation Interface” on page 2-13.

•

Create, Build and Debug Application Project

PerformsthesameactionsasCreate, Build and Execute

Application Project

target. This option behaves the same way as the Debug Application icon in the TASKING EDE.

but also downloads debugging information to the

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Accessing Utilities for TASKING

In this section...

“Embedded IDE Link Utilities for Use with TASKING dialog” on page 1-27

“Tools Menu Items” on page 1-29

Embedded IDE Link Utilities for Use with TASKING dialog

Open the Embedded IDE Link Utilities for Use with TASKING dialog box by entering TASKING Utilities in the Simulink block library.

You see the following options:.

• Target Preferences

taskingutils in the Command Window or double-clicking Launch

Opens the Target Preferences Configuration Selection dialog box, and afte r you choose a configuration to match your target (e.g., edit the Target Preferences dialog box. In this dialog box, you can modify your TASKING preferences configurations. You can also open this dialog box from the MATLAB prompt by typing

Accessing Utilities for TASKING

TriCore), you can

tasking_edit_prefs.

You must set up your target preferences before you can use Embedded IDE Link software. See “Setting Target Preferences” on page 1-10.

• Select Preconfigured Target Preference Settings

Opens the Target Preferences Configuration Selection dialog box. Choose a configuration to matchyourtargetandclickOK.Thenyoucanselect a preconfigured option set. Your target preferences are automatically updated according to the option set y ou select, for example, specifying either hardware or simulator settings. See “Option Sets” on page 1-30.

• Launch and Test Communication with TASKING EDE

Opens the Target Preferences Configuration Selection dialog box. Choose a configuration and click OK, and Embedded IDE Lin k software tests whether MATLAB can communicate successfully with the Altium TASKING EDE for the selected configuration. You see messages at the command line to confirm whether communication is successful.

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1 Getting Started

• C r ea te a New Model (configured for use with TASKING)

Creates a new untitled Simulink model, with Embedded IDE Link configuration set options already added. You can also configure an existing model by selecting the Simulink model menu item Tools > Utilities

for Use with TASKING(R) IDE > Add Embedded IDE Link Configuration to Model.

• View, Modify, and Copy Configuration Sets via Model Explorer

Opens the Model Explorer where y ou can edit all configuration sets available for each currently open model.

• Create New Template Projects

The Embedded IDE Link product ships with preconfigured application and library template projects for the default configurations in the Target Preferences dialog b ox . Y o u might, however, create your own template projects (using preconfigured options as a starting point), and use them with any configuration. See “Tutorial: Creating New Template Projects” on page 5-4 for an example, and “Template Projects” on page 2-4 for more information.

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This option opens the Target Preferences Configuration Selection dialog box. Choose a configuration and click OK,andEmbeddedIDELink software launches the appropriate TASKING EDE and creates new template projects for a specific Tasking Configuration.Whenyouare prompted, choose a project folder, a template name, and an option set. See “Option Sets” on page 1-30 for more details.

lib_template_name.pjt are created for the configuration you selected.

• Open Existing Template Projects

Opens existing application and library template projects in the TASKING EDE for the selected Tasking Configuration.Youcanmodifythese options; however, it is preferable to do this by first creating new template projects, which avoids overwriting the default template projects. If you modify the default template projects, you can use the following function to recreate the defaults: You must specify your configuration description string, e.g.:

tasking_generate_templates('C166', true).

tasking_generate_templates.

app_template_name.pjt and

Accessing Utilities for TASKING

Note Opening or editing template projects causes the regeneration of application and library projects. When making any cha n ges to template projects, it is important to make sure your changes are saved. To do this, remove the project from the project space; otherwise the changes may not be applied immediately. To remove a current project from the project space, right-click on it and choose Remove from Project Space.

• Demos

Opens the Embedded IDE Link Demos page in the Help browser.

Tools Menu Items

In a Simulink model, you can access Embedded IDE Link menu items in the Tools menu. Select Tools > Utilities for Use with TASKING(R) IDE to see the following submenu items.

• Target Preferences

As it does in the Start menu, this menu choice opens the Target Preferences Configuration Selection dialog box. After you choose a configuration, you can edit the Target Preferences Setup dialog box. You must set up your target preferences before you can use Embedded IDE Link software. See “Setting Target Preferences” on page 1-10.

• A dd Embedded IDE Link Configuration to Model

Adds Embedded IDE Link configuration options to the model configuration parameters.

To see exactly which configuration parameter settings are changed, refer to

tasking_addto_configset.m.Enteredit tasking_addto_configset.

• Remove Embedded IDE Link Configuration from Model

Removes Embedded IDE Link configuration options from the model’s configuration parameters.

• Options

Opens the Configuration Parameters dialog box to show Embedded IDE Link software options. See “Configuration Set Options” on page 1-16.

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1 Getting Started

Option Sets

In this section...

“What Are Option Sets?” on page 1-30

“Supported DAS Software” on page 1-32

What Are Option Sets?

Option sets are preconfigured settings to specify the target configuration for the Altium TASKING tools. For example, after you set u p your target preferences for a TriCore configuration, you can use option sets to switch between using an instruction set simulator configuration, two hardware board configurations, or a simulator with some MISRA C rule checking.

You can use option sets either:

• To switch between default target configurations, or

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• When creating new template projects, to set up an initial configuration

that you can choose to modify later

See “Tutorial: Using Option Sets” o n page 5 -2 for instructions.

The following preconfigured option sets are available.

A notation of “*” indicates the de fault in the Target Preferences. The processor type for the default configurations below is defined by your TASKING toolchain.

• Infineo n TriCore:

- * tricore_sim: Default instruction set simulator c onfiguration.

- tricore_sim_misra:Astricore_sim,butwithsomeexampleMISRA

C rule checking enabled. See also the TriCore MISRA C demo example,

tasking_demo_misra.m, with instructions under Embedded IDE Link

Demos.

- tricore_1796b: Infineon TriCore 1796b hardware configuration.

- tricore_1766b: Infineon TriCore 1766b hardware configuration.

• Infineon C166:

- c166_sim : Default instruction set simulator configuration.

- c167cr : Phytec kitCON-C167CR serial connection to hardware (_hw)

and simulator (

_sim)configurations.

- *c167cs : Phytec phyCORE-C167CS serial connection to hardware (_hw)

and simulator (

_sim*) configurations.

- st10f252 : STMicrolectronics MB449 ST10F25x EVA Board serial

connection to hardware (

_hw)andsimulator(_sim) configurations.

- st10f269 : Phytec phyCORE-ST10F269 serial connection to hardware

(

_hw)andsimulator(_sim)configurations.

- xc164cm : Infineon XC164CM U CAN start kit USB connection to

hardware ( “Supported DAS Software” on page 1-32.

_hw_u_can)andsimulator(_sim_u_can)configurations. See

- xc167ci: On-board parallel port wiggler connection to the Infineon

XC167CI Starter Kit hardware (

_hw)andsimulator(_sim)configurations.

Option Sets

xc167ci_hw_usb : USB wiggler connection to the XC167CI

Note For xc167ci targets, you must change jumper 501 when switching between USB wiggler and on-board parallel port wiggler. See your board manual for details.

• Renesas M16C

- * m16c_sim: Default instruction set simulator configuration.

- r8ctiny_sim: Renesas R8C Tiny instructi on set simulator configuration.

• ARM:

- * arm_sim: Default instruction set simulator configuration.

- arm_sim_big_endian: As arm_sim, but in big-endian mode.

• Freescale DSP563xx:

- * dsp563xx_sim: DSP563xx Family, 16-bit memory model, instruction

set simulator configuration.

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1 Getting Started

- dsp566xx_sim: DSP566xx Family instruction set simulator

configuration.

• 8051:

- * i8051_sim: Default, large memory model, no language extensions,

floating point, instruction set simulator configuration.

Supported DAS Software

For the XC164CM and certain TriCore hardware like TC1766 and TC1796, you need to download and install the supported DAS software. If your installation of the TASKING toolset did not come with DAS, then you can download the late st DAS software from this URL:

http://www.infineon.com/das.

At the time of writing, the latest tested DAS versions are:

• DAS Edition v2.6.2

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• JTAG JDRV LPT Server v2.4.0

Make sure you res tart your computer as instructed after DAS installation.

Components

• “Project Generator” on page 2-2

• “Automation Interface” on page 2-13

2 Components

Project Generator

In this section...

“Overview of the Project Generator Component” on page 2-2

“Project-Based Build Process” on page 2-4

“Template Projects” on page 2-4

“Shared Libraries” on page 2-6

“Build Process — Folder Structure” on page 2-9

Overview of the Project Generator Component

The Embedded IDE Link Project Generator Component provides a customizable build process that is designed to work with the highly customizable code generation process provided by Real-Time Workshop. See “Project Generator” on page1-3forasummary.

2-2

To explain the separation of duties between Real-Time Workshop and Embedded IDE Link, the following sections discuss the terms code generation process and build process.

Code Generation Process

The co de generation process is performed by the Real-Time Workshop family of products and is the process of translating a Simulink model into C code.

Customized code generation, perhaps to create target-s pecific device drivers or target-optimized code, is often a key requirement for users who want to generate code from Simulink models.

Real-Time Workshop and Real-Time Workshop Embedded Coder provide a variety of mechanisms for users to customize the code generation process. For example, the standard code generation process, using the regular system target files (like to the model’s configuration parameters. Alternatively,foranevengreater level of custom ization, including the ability to define cu stom Real-Time Workshop options, you can use a user created sys tem target file.

grt.tlc and ert.tlc) can be customized by making changes

Project Generator

The demos that come with Embedded IDE Link make use of the first type of customization with regular system target files. That is, the standard code generation process has been tailored for the appropriate target platform simply by changing the model’s configuration parameters.

For greater flexibility, you should use a custom system target file. For further details on customizing the code generation process, see the Real-Time Workshop and Real-Time Workshop Embedded Coder documentation.

Build Process

The build process is performed by Embedded IDE Link and is the process of taking the C code produced by the code generation process and building (assembling, compiling, and linking) it for the target platform.

A customized build process, perhaps to use optimized compiler and linker settings, or perhaps to produce a MISRA compliance report, is often a key requirement for users wishing to build code produced from S imulink models.

Embedded IDE Link provides access to the full build process customization capabilities of the TASKING tools by allowing the user to set up the exact required configuration in TASKING. Embedded IDE Link then uses this configuration as a template for the build process.

Memory Placement Example

As an example, to consolidate the descriptions above of code generation and the build process, consider the common task of placing program data into a particular area of memory on a target platform.

Usually, this is achieved by using compiler-specific notati ons (like #pragmas) to define special memory sections and to assign data definitions to those sections. Additionally, a link er command file defines the different available memory regions on the target, and where in these regions the different memory sections should be located.

Splitting this task between the processes of code generation and building couldbedoneasfollows:

1 Customized code generation defines memory sections and assign s data.

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2 Components

2 Customized build process defines memory regions and assigns memory

sections.

Project-Based Build Process

The Embedded IDE Link build process automatically creates TASKING EDE projects representing the application and libraries to be built.

A Real-Time Workshop application usually consists of some application code that makes references to modules that are part of libraries like the Real-Time Workshop library. Another common library is the Signal Processing Blockset library, used with the Signal Processing Blockset.

Embedded IDE Link creates separate projects for the main application code and each required library. The required libraries are included in the main application projects as subprojects.

Although the build process is project-based, underlying the projects are “makefiles” that can be used independently of the EDE. For an example of howtoobtaintheappropriatemakecommand,seethedemoinstructionsin

tasking_demo_objects.m .

2-4

Target Project Space

Embedded IDE Link places projects in a project space known as the target project space. The location of the target project space is controlled by the

Target_Project_Space setting in the Target Preferences, and usually

depends on the current folder at the time the build process is invoked, the model name, and model configuration settings, including the name of the template application project.

$(DEFAULT_LOCATION) token, which is expanded based on the

Template Projects

Template projects are regular TASKING EDE projects that are used by Embedded IDE Link to allow customization of the build process. Template projects are tied to particular TASKING Configurations as set up in the Target Preferences.

There are two types of template projects: application, and library template projects.

Project Generator

The application template project is used as the template for application projects and the library template project is used as the template for library projects.

Relocation of Template Projects

During the build process, the template project is copied to a target project location, and is then populated w ith the information relating to how to build the generated code.

Therefore, the project options of the template project become the project options of the target project, and hence the build process is customized according to the template project.

On subsequent build processes, Embedded IDE Link determines whether the template project has been updated since it was last copied to the target project location. If it has, then the target project is updated with a new copy of the template project. Otherwise, the target project is not updated from the template project.

Note Project options should be updated in the template project and not in the target project.

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2 Components

How the Build Process Modifies the Relocated Template Project

The Embedded IDE Link build process determines if any changes (preprocessor defines, include paths and source files) to the target project are required to build the code associated with a particular model, and updates the target project only if required. Thus, unnecessary project rebuilding is avoided.

Any include paths and preprocessor defines in the template project are alw ays maintained in the target project. Maintaining this information is useful for keeping the include path to the compiler’s standard header files, and setting global defines.

Additionally, the optional startup code file automatically generated by the EDE is also maintained.

Note Adding any other source files to your template project is not supported and will result in errors. Instead, you should add source files to the project by adding them to the Real-Time Workshop Build Info object by using either the Real-Time Workshop Custom Code settings in the configuration parameters, the

rtwmakecfg.m mechanism, or by writing your own post code generation

command (taking care not to overwrite any existing commands). See the Real-Time Workshop documentation for details.

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Shared Libraries

Embedded IDE Link models that share the same target project space share required libraries such as the Real-Time Workshop library. Sharing of libraries means that a library is only built the f irst time a model that requires it is built.

Theadvantagesofthisshared library approach are

• No unnecessary per-model building of libraries; models with similar library

requirements (e.g., integer code only) can share libraries.

• Libraries are built with the project options specified in the corresponding

template project.

Project Generator

• Multiple sets of libraries, each with custom model, project options, or both

can coexist.

Utility Function Generation: Shared Location

The s hared library approach uses the Real-Time Workshop “Utility Function Generation” feature.

By setting utility function generation to use a shared location, rather than the model-specific default, you can ensure that the library projects created have no dependence on model-specific generated code. This feature is the key to allowing library projects to be shared between models.

As an example, consider the generated header file,

rtwtypes.h,thatcontains

the set of Real-Time Workshop data types availa ble for compiling code modules, including any libraries.

With the utility function generation set to the default, individu a l

rtwtypes.h

files are generated into each code generation folder. Therefore, multiple definitions of models. The problem is, how can one of these

rtwtypes.h would exist for a library shared between these

rtwtypes.h files be chosen

to build the library?

Setting the utility function generationtouseasharedlocationprovidesa solution. In this case, a single

rtwtypes.h file is ge nerated into a folder

shared between a set of models. This single file can be used to build the library without any dependence on the model-specific generated code.

Supporting Multiple Shared Utility Function Locations: Build Folder Suffix

The approach outlined in the previous section works well for a single set of models that have the same shared utility requirements.

However, w h at happens if you have tw o sets of models, each set with different shared utility requirements?

Normally, the Real-Time Workshop code generation process uses the current working folder as the location for generated files. In this location, it supports

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2 Components

only a single shared utilities folder for each system target file. Therefore, it is possible for conflicts over the contents of the shared utility folder to occur.

Example 1. For example, conflicts would occur if the Hardware Implementation settings were different for two models using the same system target file. If the standard is customized by changing configuration set parameters, this situation is highly likely to occur.

grt.tlc or ert.tlc code generation process

To work around this problem, when using a in the Target Preferences) containing the Embedded IDE Link automatically appends the name of the current template application project to the regular Real-Time Workshop build folder suffix. This creates code generation and project folders that are specific to the current template application project , and so also specific to the current Hardware Implementation settings. Different Hardware Implementation settings always have different template projects.

Example 2. Another common example of this conflict, for two models sharing the same system target file, would be if one model was configured to support floating-point numbers and the other was configured to support integer code only.

To work around this conflict, use the Embedded IDE Link options Add build subdirectory suffix and Build subdirectory suffix.

If you select the Add build subdirectory suffix check box, then the Build subdirectory suffix you enter is appended to the regular Real-Time Workshop build folder suffix (before the name of the template application project discussed earlier, see “Template Projects” on page 2-4). This creates code generation and project fold ers that are specific to both the Build subdirectory suffix setting and the template projects.

For example, you can add non-floating-point models.

fp for floating point models and int for

Target_Project_Space (specified

$(DEFAULT_LOCATION) token,

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Project Generator

Note Using the same build subfolder suffix for a similar set of models allows them to generate code into their own working folder, avoiding conflict with other models, while still allowing a shared utilities folder.

This feature of Embedded IDE Link removes the need for the user to manually manage changing folders to avoid shared utility folder conflicts.

See the demo models for examples of using this setting: E mbedded IDE Link for use with Altium TASKING Demos.

Build Process — Folder Structure

The following table shows the typical folders that are created, relative to the current working folder, during the Real-Time Workshop code generation process and the Embedded IDE Link build process.

Folder

$(REG_SUFFIX)_$(MODEL_SUFFIX)_$(TEMPLATE_NAME)\pjt_$(MODEL)

e.g,

ert_rtw_int_tricore_sim\pjt_fuelsys0

$(REG_SUFFIX)_$(MODEL_SUFFIX)_$(TEMPLATE_NAME)\pjt_rtwlib

$(REG_SUFFIX)_$(MODEL_SUFFIX)_$(TEMPLATE_NAME)\pjt_rtwshared

(if required)

$(MODEL)_$(REG_SUFFIX)_$(MODEL_SUFFIX)_$(TEMPLATE_NAME)

e.g.,

fuelsys0_ert_rtw_int_tricore_sim

Contents

Main project:

$(MODEL).pjt

and associated files.

Real-Time Workshop library project:

rtwlib.pjt

and associated files.

Shared utilities library project:

rtwshared.pjt

and associated files.

Real-Time Workshop code generation folder.

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2 Components

Key

$(MODEL)

$(TEMPLATE_NAME)

$(REG_SUFFIX)

$(MODEL_SUFFIX)

Real-Time Workshop code generation model name (e.g.,

fuelsys0).

Token expanded from the name of the template application project in the target preferences (e.g., project name is prefixed with “

app_” this token is removed.

tricore_sim). If the

Regular Real-Time Workshop build folder suffix (e.g.,

ert_rtw).

Model-specific build folder suffix (e.g., int).

See the next details ab

section, “Command Line Project Information” on page 2-10, for

out finding file names, paths, and other build information.

Command Line Project Information

When you b the MATLA such as p and thei

The foll

### Building the PIL Application... ### Updating EDE projects according to BuildInfo object. Please wait... Creating project: t_shift_alg_ert_rtw_pil.pjt Updating preprocessor defines in project: t_shift_alg_ert_rtw_pil.pjt Updating include paths in project: t_shift_alg_ert_rtw_pil.pjt Adding source files to project: t_shift_alg_ert_rtw_pil.pjt

uild an application you can see information containing links at B command line. You can use these links to get further details

aths to projects, preprocessor defines, include paths, added files

rlocations.

owing example shows a typical output:

2-10

can click the hyperlinks within these messages to get more information.

You

build messages are more readable wi th this information hidden, and the

The

nks provide access when you require more details.

Project Generator

Click the project file name (e.g., t_shift_alg_ert_rtw_pil.pjt)toseethe full path to the project being built, like the following example:

Project path: D:\MATLAB\\work\tricore_fp\tricore_sim\ pjt_t_shift_alg_ert_rtw_pil\t_shift_alg_ert_rtw_pil.pjt

Click preprocessor defines to see a list of preprocessor defines similar to the one in the following example:

t_shift_alg_ert_rtw_pil.pjt preprocessor defines:

INTEGER_CODE=0 MAT_FILE=0 MODEL=t_shift_alg MT=0 MULTI_INSTANCE_CODE=0 NCSTATES=0 NUMST=1 ONESTEPFCN=1 TERMFCN=1 TID01EQ=0

Click include paths toseealistofincludepathssimilartotheoneinthe following example:

t_shift_alg_ert_rtw_pil.pjt include paths:

$(PRODDIR)\include D:\MATLAB\work\tricore_fp\t_shift_alg_ert_rtw D:\MATLAB\work\tricore_fp D:\MATLAB\matlab\toolbox\rtw\targets\tasking\taskingdemos D:\MATLAB\matlab\extern\include D:\MATLAB\matlab\simulink\include D:\MATLAB\matlab\rtw\c\src D:\MATLAB\matlab\rtw\c\libsrc D:\MATLAB\matlab\rtw\c\ert D:\MATLAB\work\tricore_fp\slprj\ert\_sharedutils D:\MATLAB\matlab\toolbox\rtw\targets\tasking\tasking\pil D:\MATLAB\work\tricore_fp\t_shift_alg_ert_rtw_pil

Click source files to see a list of files added and their full paths.

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t_shift_alg_ert_rtw_pil.pjt added files:

D:\MATLAB\toolbox\rtw\targets\tasking\tasking\pil\ pil_interface.h D:\MATLAB\toolbox\rtw\targets\tasking\tasking\pil\ pil_interface_common.h D:\MATLAB\toolbox\rtw\targets\tasking\tasking\pil\ pil_interface_lib.c D:\MATLAB\toolbox\rtw\targets\tasking\tasking\pil\ pil_interface_lib.h D:\MATLAB\toolbox\rtw\targets\tasking\tasking\ tasking_pil_main.c D:\MATLAB\work\tricore_fp\t_shift_alg_ert_rtw_pil\ pil_interface.c D:\MATLAB\work\tricore_fp\t_shift_alg_ert_rtw_pil\ pil_interface_data.h D:\MATLAB\work\tricore_fp\tricore_sim\ pjt_exp_t_shift_alg_ert_rtw\exp_t_shift_alg_ert_rtw.pjt D:\MATLAB\work\tricore_fp\tricore_sim\pjt_rtwlib\rtwlib.pjt

2-12

Automation Inter face

In this section...

“Overview of Automation Interface Component” on page 2-13

“Classes” on page 2-14

“Using Objects” on page 2-15

“List of Methods” on page 2-22

“Details of Particular Methods” on page 2-25

Overview of Automation Interface Component

The Embedded IDE Link Automation Interface Component provides powerful MATLAB API’s for automating interaction with the TASKING EDE and CrossView Pro Debugger. See “Automation Interface” on page 1-3 for a summary.

Automation Interface

Objects for Embedded IDE Link

Embedded IDE Link uses object-oriented programming techniques and requires a basic knowledge of some object-oriented terminology. The following are some fundamental terms you should understand:

• O bject — Something you can operate on. An object is an instance of a class,

created by calling the class constructor.

• C lass — A class defines the properties and methods common to all objects

of the class.

• C onstructor — A function that creates an object, based on the class

definition, and initializes it.

• Method — An operation o n an object, defined as part of the class definition.

• P roperty — Part of an object, treated as a variable at times, that is defined

as part of the class definition.

• Handle — A mechanism to access any object that Embedded IDE Link

creates. Used in this guide to refer to the object. Often the handle is the name you assign when you create the object.

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The following sections describe howtouseandgethelpforEmbeddedIDE Linkobjects. See“ObjectsDemoExample”onpage2-22foranexample demonstrating some basic capabilities of Embedded IDE Link objects.

Classes

The following table shows the different classes that are provided with Embedded IDE L in k for use with Altium TASKING.

Class

tasking.edeapi

tasking.edeprojectspace

tasking.edeproject

tasking.xviewapi

tasking.Tasking_Configuration

tasking.EDE_Configuration

tasking.CrossView_Pro_Configuration

Description

Represents the TASKING EDE.

Represents a project space in the TASKING EDE.

Represents a project in the TASKING EDE.

Represents the TASKING CrossView Pro debugger.

Property of a tasking.edeapi class representing TASKING configuration details.

Property of a

tasking.tasking_Configuration

representing EDE configuration details.

Property of a

tasking.tasking_Configuration

representing CrossView Pro configuration details.

2-14

Using Objects

The topics in thi

s section are:

Automation Interface

1 “Using the alti

2 “Creating an Object Directly” on page 2-19

3 “Determining the Available Me tho ds for a Class” on page 2-20

4 “Obtaining H

5 “Calling a Method” on page 2-21

6 “Determining the Available Properties for a Class” on page 2-21

7 “Accessin

8 “Objects Demo Example” on page 2-22

umtasking Function” on page 2-15

elp for a Class Method” on page 2-20

g a Property” on page 2-21

Using the altiumtasking Function

You can use altiumtasking to create Embedded IDE Link objects for Altium TASKING. The command

[ede,xview,projspc,proj] = altiumtasking

returns the follow ing results:

•

ede — A handle to the TASK ING EDE application.

xview — A handle to the TAS K ING CrossView Pro application.

•

projspc — A handle to the project space currently open in the EDE.

•

proj — A handle to the active project in the EDE.

•

Note You can only run altiumtasking after you configure your target

preferences. See “Setting Target Preferences” on page 1-10 in the Embedded IDE Link for Use with Altium TASKING documentation.

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When you first run altiumtasking, the Target Preferences Configuration Selection dialog box opens. Select your required configuration (for example,

TriCore), and click OK.

• If you supplied a valid project space file when you configured the target

preferences,

altiumtasking opens that project space in the EDE window

and returns a handle to it. However, if no valid project space file exists, then

altiumtasking returns an empty project space handle.

• If one or more projects are defined in the project space, and opened,

altiumtasking returns a handle to the active project. If no project is

opened,

altiumtasking returns an empty project handle.

You can also run

[ede,xview,projspc] = altiumtasking does not create and return the

altiumtasking in the following ways:

project handle.

[ede,xview] = altiumtasking does not create and return the project space

and project handles.

ede = altiumtasking does not create and return the Cross View Pro

application, project space and project handles.

altiumtasking(Property, Value) enables you to specify parameters that

control the behavior of the function. For example:

altiumtasking('configDesc','TriCore')

specifies the us e of the TriCore configuration in the function.

Create EDE and CrossView Pro Handles. This example generates EDE and CrossView Pro handles.

>>[ede, xview] = altiumtasking;

Registering COM object: "D:\share\apps\BuildTools\win32\TASKING\apps\tricore\v2.5r2\ctc\bin\

Creating COM object: xfwtc.CommandLine

Initializing COM object: -G "C:\Temp" -ini "C:\Temp\tricore_default.ini" -tcfg "D:\share\app

Testing COM communications with CrossView Pro by sending command: "echo MATLABLinkTest"

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Automation Interface

[Test timeout is 60 seconds, to allow hardware setup - use "Ctrl-C" to terminate]

Test successful.

Note You must save preferences to the CrossView Pro .ini file. The link software overwrites the temporary file, ( when it creates a new

1 In CrossView Pro, se lect File > Exit. The Options dialog box opens.

2 On the Save tab, select the Save desktop and target settings check box.

3 Click Exit. CrossView Pro exits after a few moments, saving your

preferences in the

xviewapi object. ):

.ini file.

C:\Temp\tricore_default.ini,

You can view the handles CrossView Pro created.

>> ede

tasking.edeapi (handle)

configuration: [1x1 tasking.Tasking_Configuration]

"configuration" property:

Configuration_Description: 'TriCore'

EDE_Configuration: [1x1 tasking.EDE_Configuration]

CrossView_Pro_Configuration: [1x1 tasking.CrossView_Pro_Configuration]

Connected to EDE: 0

>> xview

tasking.xviewapi (handle)

configuration: [1x1 tasking.CrossView_Pro_Configuration]

"configuration" property:

CrossView_Pro_Executable: [1x76 char]

Initialization: [1x29 char]

Initialization_File: [1x107 char]

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]

Status:

Current executable: None

Current project: None

isRunning: 0

eventReporting: 1

Create an EDE handle for TriCore . This example creates an EDE handle for

TriCore.

>> obj = altiumtasking('configDesc', 'TriCore')

tasking.edeapi (handle)

configuration: [1x1 tasking.Tasking_Configuration]

"configuration" property:

Configuration_Description: 'TriCore'

EDE_Configuration: [1x1 tasking.EDE_Configuration]

CrossView_Pro_Configuration: [1x1 tasking.CrossView_Pro_Configuration

2-18

Connected to EDE: 0

Automation Interface

Creating an O b ject Directly

Embedded IDE Link allows you to create objects directly. To find o ut how to create an object of a particular class you can use the for the constructor. At the M ATLAB command prompt, enter

help <classname>.<constructorname>

For example, for the tasking.edeapi class, enter

help tasking.edeapi.edeapi

For the tasking.edeprojectspace class, enter

help tasking.edeprojectspace.edeprojectspace

help function to find help

Follow t

1 To crea

hese steps to create example objects.

te a

tasking.edeapi object, you call the constructor as follows :

Ede = tasking.edeapi

Thenameontheleftsideofthe“=” could be any valid MATLAB identifier and is the handle to the object.

You must choose a configuration, then communication is tested with the TASKING EDE. At the command line you see the configuration target preferences.

2 To create a tasking.edeprojectspace object, you call the constructor as

follows:

tasking.edeprojectspace(projspace, edeapi)

where projspace is the absolute path of the TASKING Project Space this object will relate to, and

edeapi is a tasking.edeapi object, as shown in

the following example:

ps = tasking.edeprojectspace('D:\MATLAB\work\

myprojspace.psp', Ede)

3 To create a tasking.edeproject object, you call the constructor as follows:

tasking.edeproject(proj, edeprojspace)

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2 Components

where proj istheabsolutepathoftheTASKING Project this object relates to, and

edeapiprojspace is a tasking.edeprojectspace object, as shown

in the following example:

proj = tasking.edeproject('D:\MATLAB\work\myproj.pjt', ps)

4 To create a tasking.xviewapi object, you call the constructor as follows

xv = tasking.xviewapi

You must choose a configuration, then communication is tested with CrossView Pro. At the command line, you see the configuration target preferences.

Determining the Available Methods for a Class

After you create an object, you can find the available methods by running the “methods” function.

1 For exam ple, to find the methods available on the tasking.edeapi object

created above (in “Creating an Object Directly” on page 2-19), enter

methods(Ede).

2-20

2 To find the methods available on the tasking.edeprojectspace object

previously created, enter

3 To find the methods available on the tasking.edeproject object previously

created, enter

4 To find the methods available on the tasking.xviewapi object previously

created, enter

methods(proj).

methods(xv).

methods(ps).

To see the methods available, refer to the tables in “List of Methods” on page 2-22.

Obtaining Help for a Class Method

To get help for a class method, you can use the help function.

For example, to find out more about the

tasking.edeapi class, you could enter the following command:

getProject method of the

Automation Interface

help tasking.edeapi.getProject

MATLAB returns the following output:

GETPROJECT - get the active Project in the EDE project = getProject project: edeproject object representing the active Project

in the EDE

project will be empty if there is no open project

To see the methods available, refer to the tables in “List of Methods” on page 2-22.

Calling a Method

When you know the details of a class method, you can call it using dot (.) notation.

For example, to get a

tasking.edeproject object representing the active

project, run the following command:

project = Ede.getProject

Determining the Available Properties for a Class

After you create an object, you can find the available propertie s by running the

get function.

For example, to find the properties available on the

tasking.edeapi object

created above, enter

get(Ede)

Accessing a Property

You can access a property of a class using dot (.) notation.

For example, to get the “configuration” property of the created above, enter:

config = Ede.configuration

tasking.edeapi object

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2 Components

tasking.Tasking_Configuration (handle)

Configuration_Description: 'C166'

EDE_Configuration: [1x1 tasking.EDE_Configuration]

CrossView_Pro_Configuration: [1x1 tasking.CrossView_Pro_

Configuration]

Objects Demo Example

For experience using objects, you can work through the demo example,

tasking_demo_objects.m, found under Embedded IDE Link for use with

Altium TASKING Demos.

This example provides step-by-step instructions for using Embedded IDE Link objects to communicate with the TASKING EDE and CrossView Pro debugger from the MATLAB command line. You can use any command available in the powerful CrossView Pro command language. The demo illustrates using objects during the process of building and debugging projects.

List of Methods

See the following tables for lists of available methods:

2-22

• “Methods for Class tasking.edeapi” on page 2-22

• “Methods for Class tasking.edeprojectspace” on page 2-24

• “Methods for Class tasking.edeproject” on page 2-24

• “M ethods for Class tasking.xviewapi” on page 2-24

The public methods are shown in the tables (methods beginning with “ “

p_” are private methods and should not be used).

Methods for Class tasking.edeapi

close getOptionSetNames

disp getProject

display getProjectSpace

edeapi getTargetProject

p”or

Automation Interface

exec getToolchainInfo

execApiMacro newProject

execRetNumeric newProjectSpace

execRetString newProjectTemplates

getCreatedEDEProcess newProjectTemplatesViaUI

getOptionSet newTempProjectSpaceIfNoneOpen

openProjectTemplates processTemplateProject

pwd validateToolchainDirectory

hilite_system connect

isconnected

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2 Components

Methods for Class tasking.edeprojectspace

add deleteParentDir

getEDE isopen

checkValid disp

getOriginalPath new

checkValidProject display

getPath open

close edeprojectspace

isequal remove

Methods for Class tasking.edeproject

add getEDE isopen

build getFiles new

checkValid getHyperlink open

close getIncludes rebuild

debug getMakeCmd remove

disp getOriginalPath run

display getPath setCDefines

edeproject getProjectSpace setIncludes

getBuildOutput getTarget setPerformToolchainName-

Check

getCDefines hasFile

getDir isequal

2-24

Methods for Class tasking.xviewapi

addBreakpointCallback getEventReporting

getFunctionConfiguration debug

Automation Interface

disp halt

removeBreakpointCallbacks display

isRunning setEventReporting

downloadAndRun execute

xviewapi executeAndWait

getCommandResponse getExecutable

getProject hilite_system

readMemoryUnits writeMemoryUnits

reset stackProfile

stackProfileReset

Details of Particular Methods

The following methods of the tasking.xviewapi object simplify reading from and writing to target memory units (the smallest addressable unit in the memory o f the target).

•

readMemoryUnits

To see help for this function, enter

help tasking.xviewapi.readMemoryUnits

at the MATLAB command line.

writeMemoryUnits

•

To see help for this function, enter

help tasking.xviewapi.writeMemoryUnits

at the MATLAB command line.

Use these functions with the MATLAB functions,

typecast and swapbytes,

for reading and writing data of different datatypes.

To see examples of syntax, see the demo example,

tasking_demo_objects.m,

found under Embedded IDE Link for use with Altium TASKING Demos.

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2-26

Verification

• “Processor-in-the-Loop (PIL)Cosimulation”onpage3-2

• “C Code Coverage Reports” on page 3-13

• “E xecution Profiling” on page 3-15

• “Stack Profiling” on page 3-19

• “Bidirectional Tracea bi li ty Between Code and Model” on page 3-22

• “M ISRA C Rule Checking” on page 3-25

3 Verificati on

Processor-in-the-Loop (PIL) Cosimulation

In this section...

“Processor-in-the-Loop Overview” on page 3-2

“PIL Workflow” on page 3-3

“Creating a PIL Block” on page 3-5

“Building, Running, and Debugging PIL Block Applications” on page 3-8

“PIL Metrics” on page 3-11

Processor-in-the-Loop Overview

Overview of PIL Cosimulation

Processor-in-the-loop (PIL) cosimulation is a verification technique designed to help you evaluate how well a candidate algorithm (e.g., a control system) operates on the actual target processor selected for the application.

3-2

When using Embedded IDE Link software, you have the following options for PIL cosimulation:

• T op-mo de l PIL simulation mode — you can run a complete model as a PlL

simulation on your target processor or instruction set simulato r.

• M odel block PIL simulation mode — use PIL cosimulation for a model

reference component.

• P IL block — you can create a PIL block from one of several Simulink

components including a model, a subsystem in a model, or subsystem in a library.

For information on processor-in-the-loop and how to use these different options, see“Verifying Compiled Object Code with Processor-in-the-Loop Simulation” in the Real-Time Workshop Embedded Coder documentation:

Processor-in-the-Loop (PIL) Cosimulation

Note All options (i.e. Top-model PIL, Model block PIL, and PIL block) are available when you use Embedded IDE Link software with Altium TASKING tools.

To learn how to use the top-model and Model block PIL simulation modes, refer to the Real-Time Worksho p Embedded Coder documentation linked above.

The following sections describe demos and detailed inf ormation on using the PIL block with Embedded IDE Link software and Altium TASKING tools.

PIL Workflow

You can work through the PIL block verification workflow demo for a hands-on example illustrating using SIL and PIL for system and unit testing:

tasking_demo_system_simulation.mdl.

By running this demo you will learn how to:

• U se Software-in-the-Loop (SIL) to verify correct behavior of source

code, generated by Real-Time Workshop Embedded Coder software and executing o n the host processor

• Use Processor-in-the-Loop (PIL) to verify correct behavior of object code

and generate metrics; the object code is cross-compiled from source code generated by Real-Time Workshop Embedded Coder software and executes on a target embedded processor

• Create system and unit test models

• Work with multiple heterogeneous target processors

• Include existing / legacy algorithms for SIL and PIL verification

• E xport a generated algorithm for inclusion in an existing project

• Generate a fully deployable model-based application

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3 Verificati on

Using target_block_verify

The function target_block_verify is used in the PIL Verification Workflow demo,

tasking_demo_system_simulation.mdl.

You can use

target_block_verify to verify a generated PIL or SIL block and

compare the results with the simulation or algorithm b lock.

[LOG_SIGS1, LOG_SIGS2] = target_block_verify('BLOCK1', 'BLOCK2')

turns on signal logging for the outports of BLOCK1,themodelcontaining

BLOCK1 is simulated and the logged signals are returned in LOG_SIGS1.

Next,

BLOCK1 and BLOCK2 are swapped, the same model is simulated again,

and the logged signals for

To verify a SIL or PIL block, set and set

BLOCK2 to the generated PIL or SIL block for BLOCK1.

Use full path names of Simulink blocks for

BLOCK2 may be in the same model as BLOCK1,orinitsownmodel. The

model(s) containing

LOG_SIGS1 and LOG_SIGS2 are ModelDataLogs objects containing all the

loggedsignalsfortheoutportsof

BLOCK2 are returned in LOG_SIGS2.

BLOCK1 to the simulation or algorithm block,

BLOCK1 and BLOCK2.

BLOCK1 and BLOCK2 are loaded.

BLOCK1 and BLOCK2 respectively. The data

returned for each outport is a Timeseriesobjectthatallowscomparisonand plotting capabilities.

BLOCK1 and BLOCK2 are in the same model, then one LOG_SIGS output is

returned containing the data for both

BLOCK1 and BLOCK2.

3-4

Caution target_block_verify makes temporary changes to the model by swapping Although

BLOCK1 and BLOCK2 in addition to setting some logging options.

target_block_verify restores the original settings of the model, it

is recommended that you save a copy of your model first.

Processor-in-the-Loop (PIL) Cosimulation

Creating a PIL Bl

The PIL settings under the Embedd

can be found in the Configuration Parameters dialog box

ed IDE Link settings.

ock

The following options are available under Processor-in-the-Loop (PIL) Verification

• Configure model to build PIL algorithm object code

Select this box to create PIL algorithm object code as part of the Real-Time Workshop code generation process.

• PIL block action

Select one of the following PIL block actions:

- Create PIL block, then build and download PIL application

3-5

3 Verificati on

Select this option to automatically build and download the PIL application after creating the PIL block. This option is the default when you s elect the option to configure the model for PIL.

3-6

Processor-in-the-Loop (PIL) Cosimulation

- Create PIL block

Choose this option to create the PIL block and then stop without building. You can build manually from the PIL block.

- None

Choose this option to avoid creating a PIL block, for instance if you have already built a PIL block and do not want to repeat the action.

After you create and build a PIL block, you can either:

• Copy it into your model to replace the original subsystem (save the original

subsystem in a different model so it can be resto red), or

• Add it to your model to compare with the original subsystem during

cosimulation.

See “Building, Running, and Debugging PIL Block Applications” on page 3-8 for more details.

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3 Verificati on

Building, R unni

ng, and Debugging PIL Block

Applications

This section inc

• “B uilding and

• “PIL Debuggin

Building and Downloading PIL Applications

After you cre use it for co Configurat applicatio

build and do

you can use

To build an

1 Double-c

2 Click Build. Wait until the Application name in the mask is updated and

you see the “build complete” message.

3 Click Download.

ludes the following topics:

Downloading PIL Applica tion s ” on page 3-8

g” on page 3-10

ate a PIL block, you must build and download it before you can

simulation. You can use the PIL Block Action setting in the

ion Parameters to automatically build and download the PIL

n after the PIL block is created (select

wnload PIL application

the P IL block to build and download manually.

d download the PIL application manually:

lickthePILblocktoopenthemask.

). If you choose not to use this option,

Create PIL block, then

3-8

4 Wait un

the “do close

The PI the PI or in

mulation.

cosi

r the test, Embedded IDE Link software returns execution profiling, code

Afte

erage, and stack profiling reports to MATLAB for your rev iew. See “PIL

cov

rics” on page 3-11 for more information.

Met

til the output in the MATLAB command window stops and you see

wnload complete” message in the PIL block, and then click OK to

the block mask.

L Application is now ready. To cosimulate with it, you must copy

L block into your model, either to replace the original subsystem

addition to it for comparison. Click Start Simulation to run a PIL

Processor-in-the-Loop (PIL) Cosimulation

Note When copying PIL blocks to be used in the same model or in different models that simulate simultaneously, you must click the Download button in the PIL block mask in the new block after copying.

Clicking Download creates new connections (handles) to the TASKING EDE and CrossView Pro debugger. Otherwise, the same debugger handle may be used by multiple PIL blocks simultaneously and cosimulation errors or incorrect results may occur. This concern does not apply when copying PIL blocks created automatically as part of the build process because the untitled model and test harness are typically not simulated together.

See the Embedded IDE Link demos for examples with instructions to enable you to build and download PIL blocks and use them in cosimulation.

PIL Block Parameters. For generic PIL block information, see “Setting Up PIL Simulations With the Embedded IDE Link Product PIL Block” in the Real-Time Workshop Embedded Coder documentation.

Embedded IDE Link software creates PIL blocks with both the Simulink system path and Configuration properties automatically configured.

The available Configurations correspond to the TASKING Configuration descriptions in the Target Preferences.

Some guidelines for choosing a valid configuration:

1 The configuration must generate debugging information because Embedded

IDE Link software requires this information to communicate with the PIL application.

2 The configuration must be compatible with the Target Pref erences

Configuration that was used to build the PIL algorithm. The fact that

these two configurations need not match exactly allows the flexibility for thePILalgorithmtobecompiledasifforaproductionenvironment,for example, without generating debugging information. However, you must be careful to ensure that the configurations are compatible in terms of linking, otherwise build errors occur when building the PIL application. In many cases, it is appropriate to use exactly the same configuration f or

3-9

3 Verificati on

building both the PIL algorithm and PIL application and therefore no errors can ever occur because of incompatibilities between configurations.

PIL Debugging

Prior to PIL cosimulation you can use the CrossView Pro debugger to set breakpoints, so that you can step through the code and watch variables during cosimulation. To do this, you must set breakpoints in CrossView Pro prior to starting the cosimulation as follows:

1 When the build process completes, a minimized CrossView Pro window

should appear on your Windows Start menu. Maximize the CrossView Pro window.

2 In CrossView Pro, select File > Open Source, and choose a source file to

open. A typical choice would be to open the main generated file associated with the algorithm, e.g.

3 Choose a location in the file to set a breakpoint and click the “breakpoint”

button to the left of the line. A typical location for setting a breakpoint in the

model.c file would be one of the step functions.

model.c.

3-10

Note You can set multiple breakpoints in multiple files if you wish.

4 To add a variable to the watch, double-click the variable, and then click

Add Watch in the Expression Eva luation wind ow. A typical variable to add to the watch would be either the e xternal inputs or external outputs structures, which usually represent all of the inputs and outputs of the algorithm.

5 Start the PIL cosimulation in Simulink. When the breakpoint is

hit, Simulink pauses. CrossView Pro is available for debugging, and watch variables are updated. You can step through the code, set more breakpoints, and analyze data.

6 When you are finished debugging, you can continue running by clicking the

“play” button in CrossView Pro. This will allow the PIL cosimulation to continue. If you left the breakpoint in place then the cosimulation stops

Processor-in-the-Loop (PIL) Cosimulation

at that point again. To return to uninterrupted cosimulation, remove the breakpoints.

Caution Never remove the PIL synchronization breakpoint (set on the

pilDataBreakpoint function). This breakpoint is used to maintain

synchronization between Simulink and CrossView Pro.

As an alternative to manual configuration in CrossView Pro, you can obtain a handle to the the

tasking_pil_crossview_handle command as follows:

crossview = tasking_pil_crossview_handle('block')

tasking.xviewapi object associated with a PIL block by using

where block is the full Simulink system path to the PIL block. You can use

gcb to obtain the system path after clicking on the PIL block.

This handle can be used prior to PIL cosimulation to configure breakpoints, etc., by using the CrossView Pro command language.

Caution This handle should not be used during PIL cosimulation as this could lead to incorrect PIL results or termination of the PIL cosi mulation.

10-Second Pause on Termination of the CrossView Pro Debugger.

When terminating an instance of the CrossView Pro debugger application that was launched by Embedded IDE Link software, there is a pause of about 10 seconds before the CrossView Pro window closes. This 10-second pause is the intended behavior of CrossView Pro w hen acting as a COM server; CrossView Pro pauses for the 10 seconds to wait for clients such as MATLAB to release their COM references.

PIL Metrics

The following metrics provide ve rification information to be used in conjunction with the m ain “signal level” cosimulation results:

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3 Verificati on

• C Code Coverage reports

• Execution profiling

• Stack profiling

3-12

C Code Coverage Reports

After you download a PIL application and run a cosimulation, you can view reports in MATLAB. The reports available depend on the target configuration. For the C166 Simulator, a hyperlink is provided for each report in the MATLAB command window towards the end of the Real-Time Workshop build log (as shown in the following example):

PIL reports available from CrossView Pro for block: fuelsys Coverage ("covinfo"): Yes (pil_coverage_ repo rt) Profiling ("proinfo"): Yes (pil_profiling_report) Cumulative profiling ("cproinfo"): Yes (pil_cumulative_profiling_report)

CCodeCoverageReports

To view the C

pil_coverage_report =

Module: temp 0% Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim_pil... \pil_interface.c 74% Function: pilInitialize 75% Function: pilGetUDataSymbol 75% Function: pilStep 71% Function: pilGetYDataSymbol 75% Function: pilTerminate 75% Module: ..\..\..\..\..\matlab\toolbox\rtw\targets\common... \tgtcommon\pilsrc\pil_ide_data_stream.c 93% Function: pilDataBreakpoint 100% Function: pilReadData 90% Function: pilWriteData 94% Function: pilDataInit 100% Module: ..\..\..\..\..\matlab\toolbox\rtw\targets\common... \tgtcommon\pilsrc\pil_interface_lib.c 97% Function: getNextSymbol 100% Function: processData 93% Function: pilCommandLoop 99% Module: ..\..\..\..\..\matlab\toolbox\rtw\targets\common... \tgtcommon\pilsrc\pil_main.c 83% Function: main 83%

code coverage report, click the hyperlink

pil_coverage_report:

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Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim\fuelsys1.c

61% Function: Sens_Failure_Counter 13% Function: Fueling_Mode 24% Function: Init_controllogic 100% Function: controllogic 47% Function: fuelsys1_step 79% Function: fuelsys1_initialize 100% Function: fuelsys1_terminate 100% Module: MEMCPY_C 100% Module: MEMSET_C 100% Module: MUL 100% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \binarysearch_s16.c 89% Function: BINARYSEARCH_S16 89% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \dotproduct_s32s16.c 100% Function: DotProduct_s32s16 100% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \interpolate_even_s16_s16_sat.c 84% Function: INTERPOLATE_EVEN_S16_S16_SAT 84% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \interpolate_s16_s16_sat.c 83% Function: INTERPOLATE_S16_S16_SAT 83% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \look2d_s16_s16_s16_sat.c 100% Function: Look2D_S16_S16_S16_SAT 100% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils... \div_s32_sat_floor.c 77% Function: div_s32_sat_floor 77% Module: UDIL 29% Module: UMOL 24% Module: fuelsys1_pil 0% Module: CSTART 0% Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim\fuelsys1_data.c

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Execution Profiling

In this section...

“CrossView Pro Execution Profiling” on page 3-15

“Task Execution Profiling Kit for Real-Time Workshop Targets” on page 3-18

CrossView Pro Execution Profiling

Execution Profiling

Maximum stack usage during PIL (including the PIL test framework overhead):

C166 User Stack: 59/109 (54.13%) words used.

To view the profiling report, click the hyperlink pil_profiling_report:

pil_profiling_report =

Total Execution Time: 4447016

Cycles %Cycles Function: pilInitialize 16 0.000% Function: pilGetUDataSymbol 22428 0.504% Function: pilStep 20826 0.468% Function: pilGetYDataSymbol 22428 0.504% Function: pilTerminate 16 0.000% Function: pilDataBreakpoint 14454 0.325% Function: pilReadData 549878 12.37%

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Function: pilWriteData 166816 3.751% Function: pilDataInit 4 0.000% Function: getNextSymbol 80100 1.801% Function: processData 288360 6.484% Function: pilCommandLoop 137966 3.102% Function: main 6432 0.145% Function: Sens_Failure_Counter 22400 0.504% Function: Fueling_Mode 54740 1.231% Function: Init_controllogic 58 0.001% Function: controllogic 121744 2.738% Function: fuelsys1_step 677674 15.24% Function: fuelsys1_initialize 48 0.001% Function: fuelsys1_terminate 4 0.000% Function: BINARYSEARCH_S16 372458 8.375% Function: DotProduct_s32s16 37642 0.846% Function: INTERPOLATE_EVEN_S16_S16_SAT 51678 1.162% Function: INTERPOLATE_S16_S16_SAT 528118 11.88% Function: Look2D_S16_S16_S16_SAT 256320 5.764% Function: div_s32_sat_floor 406596 9.143% Module: temp 0 0.000% Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim_pil\pil_interface.c

65714 1.478% Module: ..\..\..\..\..\sandbox\targets with spaces\matlab... \toolbox\rtw\targets\common\tgtcommon\pilsrc\... pil_ide_data_stream.c 731152 16.44% Module: ..\..\..\..\..\sandbox\targets with spaces\matlab... \toolbox\rtw\targets\common\tgtcommon\pilsrc\... pil_interface_lib.c 506426 11.39% Module: ..\..\..\..\..\sandbox\targets with spaces\matlab... \toolbox\rtw\targets\common\tgtcommon\... pilsrc\pil_main.c 6432 0.145% Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim\... fuelsys1.c 876668 19.71% Module: MEMCPY_C 357522 8.040% Module: MEMSET_C 792 0.018% Module: MUL 13398 0.301% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... binarysearch_s16.c 372458 8.375% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... dotproduct_s32s16.c 37642 0.846%

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Execution Profiling

Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... interpolate_even_s16_s16_sat.c 51678 1.162% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... interpolate_s16_s16_sat.c 528118 11.88% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... look2d_s16_s16_s16_sat.c 256320 5.764% Module: ..\..\slprj\ert_int_c167cs_sim\_sharedutils\... div_s32_sat_floor.c 406596 9.143% Module: UDIL 147648 3.320% Module: UMOL 85064 1.913% Module: fuelsys1_pil 0 0.000% Module: CSTART 0 0.000% Module: ..\..\fuelsys1_ert_rtw_int_c167cs_sim\... fuelsys1_data.c 0 0.000% 27: readDataPtr = & pil_ide_data_buffer[0];

For cumulative profiling, command line messages like the following inform you that you must configure CrossView Pro to specify which functions to collect data for. Select Tools > Cumulative Profiling Setup,specify functions, and then run the cosimulation again to get the report.

NOTE: Cumulative profiling requires manual setup in CrossView Pro. See Tools->Cumulative Profiling Setup DO NOT add the function pilDataBreakpoint to the list of functions to profile.

You must then run the PIL simulation again to generate the report.

pil_cumulative_profiling_report =

CrossView Cumulative Profiling Report

------------------------------------Total Execution Time: 4447016 Function Calls Recursive Min.Time Max.Time Avg.Time Total Time %Time

For i nformation on build messages containing links at the command line, see “Command Line Project Information” on page 2-10.

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Task Execution Profiling Kit for Real-Time Workshop Targets

This kit, available on MATLAB Central, provides instructions and examples on how to implement real-time task based execution profiling on a custom target. A graphical representation of on-target execution and a HTML report are provided for analysis. You can implement this for your own custom system target file that uses the Embedded IDE Link project generator.

For details, see http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectId=12731

3-18

Stack Profiling

In this section...

“What Is Stack Profiling?” on page 3-19

“PIL Applications” on page 3-19

“Non-PIL Applications” on page 3-20

“Infineon®TriCore Stack Depth Analyzer” on page 3-21

What Is Stack Profiling?

Stack profiling gives you a maximum bound on the stack usage of an application. The stack profiling feature works by fir st writing a signature to the s tack memory region, then when the application executes normally, the signature pattern is overwritten by the application s tack data. Finally the stack memory is read into MATLAB and analyzed to determine how much of the stack memory w as used during execution.

Stack Profiling

PIL Applications

Stack profiling is automatically reported after PIL cosimulation. The report gives you a maximum bound on the stack usage of the algorithm under test.

OutputatendofPIL(boldindicateshyperlinks):

Maximum stack usage during PIL (including the PIL test framework overhead): TriCore User Stack: 24/2048 (1%) words used. TriCore Interrupt Stack: 0/256 (0%) words used.

The hyperlinks for the individual stacks expand to more information about that stack, as shown in the following example.

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The hyperlink for "including the PIL test framework overhead" expands to show this explanation:

PIL Test Framework Overhead: The maximum stack usage reported after PIL is the stack usage of the entire PIL application, which includes a small amount of stack used by the PIL test framework. The stack usage reported is therefore a maximum bound on the stack usage of the algorithm under test.

3-20

To more accurately determine the stack usage of the algorithm it is possible to use the Embedded IDE Link CrossView Pro stack profiling feature on an application that is not configured for PIL. This will allow the stack usage to be determined without the stack overhead of the PIL test framework.

Non-PIL Applications

Non-PIL applications (perhaps with stimulus signals coming from target I/O drivers) can be profiled using the CrossView Pro API commands

stackProfileReset and stackProfile.

1 Call stackProfileReset to reset the application you are debugging, and

write a signature pattern to the stack memory region. Use the following syntax:

xview.stackProfileReset

where xview is a tasking.xviewapi object. See “Methods for Class tasking.xviewapi” on page 2-24.

Stack Profiling

2 Call stackProfile immediatelyafterresettingtoview0%stackusage

profiling results.

3 Execute the application (e.g., xview.execute('C')).

4 After the amount of time you want to profile for, stop the application using

xview.halt

5 Call stackProfile to get the profiling results for the execution period.

An example of this procedure is shown following.

Infine

The In analy dynam

It ca ther

Cli cli

on TriCore Stack Depth Analyzer

fineon TriCoreStack Depth A nalyzer (SDA) tool is a static stack depth

zer for the TASKING TriCore toolset. This is an alternative to the

ic stack profiling provided with Embedded IDE Link software.

nbefoundattheInfineonTriCoreSoftware Downloads page. Navigate

efromthisURL:

http://www.infineon.com/tricore

ck the link on the right: “Development Tools, Software and Training”, then

ck “Software Downloads”.

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Bidirectional Traceability Between Code and Model

In this section...

“Using Traceability” on page 3-22

“Enabling Traceability” on page 3-23

Using Traceability

Context menu items and command-line methods allow you to navigate bidirectionally between Simulink blocks and the corresponding generated source files in the TASKING EDE or the CrossView Pro debugger.

See the demo tasking_demo_objects to try this feature. This is a command line demo that you can run from the Help brow ser.

To find the generated code for any block in the model, right click on the block and select: Embedded IDE Link > See Generated Code in EDE or

Embedded IDE Link > See Generated Code in CrossView Pro.

3-22

This opens the source file which contains the ge nerate d code for the block, and highlights the Real-Time Workshop tag for that block. T he Real-Time Workshop tag is usually found in the block’s generated comments preceding the block’s code.

There are command-line alternatives to the right-click context menu items — see

tasking_demo_objects for an example.

To find the block which corresponds to some generated code in the EDE or CrossView Pro:

1 Click to place the cursor at the line of code containing the Real-Time

Workshop Tag for the given block. Here is an example:

/* Outputs for atomic SubSystem: '<Root>/SS2'

2 Enter at the MATLAB command prompt:

EDE_Obj.hilite_system

Bidirectional Traceability Between Code and Model

XView_Obj.hilite_system

Enabling Traceability

To use the Traceability feature, you must configure your model as follows:

1 Enable the generation of traceability information by adding

targets_trace_enable(gcs) to the PostLoadFcn callback of the model.

a Select File > Model Properties > Callbacks.’

b Click PostLoadFcn.

c Enter targets_trace_enable(gcs),asshown.

Click OK.

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Note targets_trace_enable also selects the check box options Create

Code Generation report and Code-to-model under Report in the Configuration Parameters dialog box.

2 The model must use an ERT based Target.

3-24

MISRA C Rule Checking

The TASKING C compiler supports MISRA C rule checking and can be easily configured to check the code generated by Real-Time Workshop software.

You can switch on MISRA C rule checking in your application and/or library template projects. When you build using these template projects, the TASKING compiler will provide warnings about MISRA C violations. Embedded IDE Link software returns these warnings to the MATLAB command line for your review.

Embedded IDE Link software provides an example application project template, pre-configured for MISRA C rule checking, for the TASKING TriCore Toolset. For instructions, see the MISRA C Rule Checking demo,

tasking_demo_misra.m.

MISRA C®Rule Checking

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3-26

Optimization

• “C ompiler / Linker Optimization Settings” on page 4-2

• “Target Memory Placement / Mapping” on page 4-3

• “E xecution and Stack Profiling” on page 4-4

• “Target Specific Optimizations” on page 4-5

• “Model Advisor” on page 4-9

4 Optimization

Compiler / Linker Optimization Settings

Template projects allow you to fully control the optimization settings used by the compiler and linker.

• Se e “Template Projects” on page 2-4 for details of using template projects.

• See “PIL Block Parameters” on page 3-9 for information about optimization

setting requirements for Processor-in-the-Loop.

• See the TASKING documentation for details of available optimization

settings.

4-2

Target Memory Placement / Mapping

Template projects allow you to fully control the target memory map used foryourapplication.

• Se e “Overview of the Project Gene rato r Component” on page 2-2 for a

general discussion of how the code generation process and subsequent build process w ork together, including a memory placement example.

• See “Template Projects” on page 2-4 for details of using template projects.

See the TASKING d ocumentation for details of memo ry map settings.

Target Memory Placement / Mapping

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4 Optimization

Execution and Stack Profiling

In this section...

“Execution Profiling” on page 4-4

“Stack Profiling” on page 4-4

Execution Profiling

Execution profiling metrics from the CrossView Pro instruction set simulator during PIL cosimulation can be used to identify areas of your algorithms that can be further optimized.

See “Execution Profiling” on page 3-15 for details.

Stack Profiling

Stack profiling metrics for PI L cosimulation or real-time applications can be used to optimize the amount of stack memory required for an application.

4-4

See “Stack Profiling” on page 3-19 for details.

Target Specific Optimizations

In this section...

“C Language Extensions / Intrinsics” on page 4-5

“Target Optimized Libraries for Infineon XC166 and Infineon®TriCore” on page 4-7

“Target Optimized FIR / FFT Blocks for the Infineon®TriCore” on page 4-8

C Language Extensions / Intrinsics

Infineon TriCore

Target Specific Optimizations

Support

ANSI Support

ISO S upport

Saturated Arithmetic Support

ISO/IEC 9899:1999 Math Library. The target function library Infineon

TriCore ISO

implement floating-point mathematical function blocks (e.g. trigonometric functions, log functions). Using these target optimizations improves the performance of applications performing floating-point mathematical operations.

When using these target optimizations, the regular Real-Time Workshop implementation for many ANSI floating-point mathematical operations is replaced by the ISO equivalent. These functions behave identically to the regular Real-Time Workshop implementation and can be verified using processor-in-the-loop cosimulation.

uses the TASKING ISO/IEC 9899:1999 Math Library to

C89/C90 ANSI Targ et Function Library

Yes Yes Yes

Infineon TriCore ISO Targ et Function Library

Yes Yes

Infineon TriCore Target Function Library (ERT Only)

Yes

4-5

4 Optimization

You can use the Infineon TriCore ISO target function library with ERT or GRT system target files.

To enable the math library for the optimization of floating-point mathematical operations, select Target function library (on the Interface pane of the Configuration Parameters dialog box).

Infineon TriCore ISO for the Real-Time Workshop option

Saturated A rith metic. The target function library includes all ISO optimizations and also saturated arithmetic optimizations. The target function library system target files.

You can use T ASKING compiler extensions and intrinsic functions for saturated arithmetic. These target optimizations can increase execution speed up to 18 times for saturated arithmetic operations. The use of these target optimizations w ill improve the performance of most applications performing saturated arithmetic operations. It is therefore recommended to enable the optimizations.

When using these target optimizations, the regular Real-Time Workshop implementation for many saturated arithmetic operations are replaced by calls to target optimized inlined functions. The behavior of these functions is identical to the regular Rea l- Time Workshop implementation and can be verified using processor-in-the-loop cosimulation (see “Processor-in-the-Loop (PIL) Cosimulation” on page 3-2).

To enable TASKING compiler extensions and intrinsic functions for the optimization of saturated arithmetic, select Real-Time Workshop option Target function library (on the Interface pane of the Configuration Parameters dialog box).

Infineon TriCore is only available for ERT

Infineon TriCore for the

Infineon TriCore

4-6

General

Depending on your toolset, your the TASKING compiler may support C language extensions or intrinsics to help optimize in some of the following areas:

• D ata Types (eg. Fractional Arithmetic, Bit Addressable Memory)

• Memory Qualifiers (eg. Near, far address space)

Mathworks EMBEDDED IDE LINK 4 user guide

Specifications and Main Features

Frequently Asked Questions

User Manual