®
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Tom Erkkinen
Embedded Applications Manager
The MathWorks, Inc.
© 2008 The MathWorks, Inc.
Production Code Generation (PCG)
Time Machine
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NACA
“Production
Coders” - 1949
Wayback
Machine (www.archive.org)
First Production Coders
2
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Wayback
Machine
MathWorks
– Oct 12 1999 (Release 11)
New
500 staff
First MathWorks
Production Coder
Y2K
3
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Simulink Code
Code Generation
Generation -- 1999
Simulink
2005
“Now supports
two forms of code
generation:
rapid prototyping
and production”
4
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New Features and Trends
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
5
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Code Generation – 1990s
Real-Time Workshop® and Stateflow® Coder
Simulink and
Stateflow
Generate code from Simulink and Stateflow that
Algorithm and System
Design
Tune
Tune
Generate
Generate
is easy to interact, tune, and experiment with
Simulation Acceleration
Rapid Prototyping
Hardware in Loop (HIL)
Embedded deployment (some examples)
C code
Real-Time
System
You can deploy code on any microprocessor using Real-Time
Workshop because it generates ANSI-C.
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ECU Development – 1990s
Automatic Code Generation usage
Paper
Specs
Field Tests
& CAL
Modeling
Simulation
Acceleration
HIL Test
Rapid
Prototyping
Manual
Integration
Coding
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Code Generation
(R11)
Simulink
Code Generation
(R14)
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New features and trends
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
9
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ECU Development – 2000s
Using Model-Based Design with Automatic Code Generation
System
Integration
System Specification
Simulation Acceleration
HIL Test
Component
Integration
Component Design
Rapid Prototyping
Processor-in-loop (PIL) Test
Software
Integration
Software Design
On Target Rapid Prototyping
Software-in-loop (SIL) Test
Coding
Coding
• Source
• Source
• Object
Production Code Generation
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Code Generation – Early 2000s
Real-Time Workshop® Embedded Coder
Supports all Real-Time Workshop options
Plus generates production code
Component integration
Golden model
Verify
Tune
Verify
Tune
Code readability
Algorithm and System
Design
Generate
Generate
Floating- and fixed-point efficiency
Simulink and
Stateflow
C code
MCU
DSP
11
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MAC 2005 - GMPT
More
Efficient
Than Hand
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MAC 2005 - Visteon
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MAC 2005 – Golden Model
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Demo
Executable specification
Multidomain
Rapid Simulation
Interaction options
Detailed Design
Data Dictionary
Code generation
RP/HIL
PCG
AUTOSAR
Verification and Validation
Bidirectional trace
Model Advisor
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Code Generation – Early 2000s
Simulink and
Stateflow
Embedded Targets
Provide target specific blocks/features for
On-Target Rapid Prototyping
C code
MCU
Tune
Verify
Tune
Verify
Algorithm and System
Design
Generate
Generate
Real-Time Workshop® Embedded Coder
Generates efficient code that can be
customized to look like hand code for
Production Code Generation
DSP
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On-Target Rapid Prototyping
Simulink
Plant Model
Code
Generation
Controller Model
Harness
Embedded Target (MPC5xx)
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Rapid Prototyping Comparison
Traditional Bypass
On-Target
Purpose
New ideas, green field research
Refine designs, production focused
Production
Constraints
(efficiency)
Few
More
Hardware
(Cost)
Fl
ex ity
iebl
From off-the-shelf PCs id ili
ty
F
To custom bypass HW
From Existing ECUs
To eval board HW
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Code Generation – Early to Mid 2000s
Verify
Tune
Verify
Tune
Links and Targets
Provide target specific blocks/features for
On-Target Rapid Prototyping
SIL and PIL support
Algorithm and System
Design
Generate
Generate
Real-Time Workshop® Embedded Coder
Generates efficient code that can be
customized to look like hand code for
Production Code Generation
Simulink and
Stateflow
C code
MCU
DSP
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MAC 2004 – DC Trucks
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SIL
Simulink
Code
Generation
Controller Model
Host-compiled C,
Plant Model
Options
1. Emulate target word sizes
(w/code change)
2. Use target word sizes
(w/o code change)
With S-Function
Wrapper (DLL)
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PIL
Simulink
Code
Generation
Controller Model
Plant Model
PIL Options
1. Using ISS
2. To HW (via IDE)
3. Direct to HW
Cross-Compiled C
(IDE, ISS)
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In-the-Loop Comparison
SIL
PIL (ISS)
PIL (HW)
HIL
Description
Software-in-the-Loop
Processor-in-the-Loop
Hardware-in-the-Loop
Purpose
Verify Source Code
Component
Verify Object Code
Component
Verify Object Code
Component
Verify Complete System
Functionality
Fidelity
Emulated: same source
code, not bit accurate
Actual: Different source
code, bit accurate (fix-pt)
Same object code; bit
accurate (fix-pt); not cycle
accurate since uses ISS
Same object code; bit
accurate (fix-pt); cycle
accurate since runs on HW
Same executable code; bit
accurate (fix-pt); cycle
accurate; emulated I/O
Platform
(Plant, ECU)
Host, Host
Convenience
Desktop convenient;
executes just in Simulink;
no HW cost
Real-Time
Engineers
Co
nv ty
Host, Target
eenli
i d i en
F
cExecutes
Desktop convenient;
e
on desk or test
Host, Host (ISS)
Real-Time System, Target
Executes in test bench or
lab; $$ for processor, ECU,
I/O, cables
executes just on host
computer w/Simulink and
ISS; no HW cost
bench; $ for processor
board and cables
Non real-time
Non real-time (between
samples)
Non real-time (between
samples)
Hard real-time
Systems or Software
Engineers
Software or Test
Engineers
Software or Test
Engineers
Systems or Test Engineers
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Link and Target Products – R2007a
Simulink®
Links
PIL via IDEs
Altium TASKING®
Analog Devices VisualDSP++®
TASKING
TI’s Code Composer Studio™
Mentor Graphics ModelSim®
Cadence® Incisive®
Project creation
Optimizations
Many third party offerings
ST10
Targets
Add-ons to Links
Device driver blocks
Optimizations
Target
1
Tricore
Target
2
Link
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Embedded IDE Link™ MU - R2007b+
(for Green Hills® MULTI®)
Simulink
Automates build and test of embedded code
using MATLAB®, Simulink® and MULTI®
(from Green Hills®)
For systems and software engineers who
want to deploy and verify automatically
generated code quickly
Supports key processors including:
Freescale™ MPC5554 and MPC7447
NEC V850
Analog Devices® Blackfin®
MULTI
Processor
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Code Generation – Mid 2000s
Real-Time Workshop Embedded Coder
C and C++ Production Code Generation
Algorithm and System Design
Generate
Generate
Generate
Generate
Simulink® HDL Coder
Verilog and VHDL Code Generation
Simulink, Stateflow, and
Embedded MATLAB
Functions
C/C++ code
MCU
DSP
Verilog/VHDL
FPGA
ASIC
You can deploy code on any microprocessor or hardware device.
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Code Generation
Verification –– Mid
Mid 2000s
2000s
Real-Time Workshop Embedded Coder
C and C++ Production Code Generation
MCU
DSP
Verify
Verify
C/C++ code
Generate
Generate
Verify
Verify
Links and Targets
On-Target Prototyping
SIL and PIL
Algorithm and System Design
Generate
Generate
Simulink® HDL Coder
Verilog and VHDL Code Generation
Simulink, Stateflow, and
Embedded MATLAB
Functions
Verilog/VHDL
FPGA
ASIC
deploycode
codeon
onany
anymicroprocessor
microprocessoror
orhardware
hardwaredevice.
device.
You can verify
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Demo
PIL Testing
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Simulation is not the only way to do
Verification and Validation
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Introduced in 2007…
Simulink, Stateflow, and
Embedded MATLAB
Functions
Simulink Design Verifier
Generate tests and prove model
properties using formal methods
Algorithm and System Design
MCU
DSP
Verify
Verify
C/C++ code
Generate
Generate
Verify
Verify
Generate
Generate
GeHan
ne dra
te
Verilog/VHDL
FPGA
ASIC
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ECU Development – 2005
Today (R2008a)
Using Model-Based Design with Automatic Code Generation
System
Integration
System Specification
Simulation Acceleration
HIL Test
Component
Integration
Component Design
Rapid Prototyping
Processor-in-loop (PIL) Test
Software
Integration
Software Design
On Target Rapid Prototyping
Software-in-loop (SIL) Test
Coding
• Source
• Object
Production Code Generation
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2007a to 2008a)
New features and trends
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
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Embedded MATLAB Functions -–2007a
R14
Number of Supported Functions
300
Fi
Non-Fi
250
200
150
100
50
0
R14
R14sp1 R14sp2 R14sp3 R2006a R2006b R2007a
>>eml_frames, eml_nd
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Embedded MATLAB™ Improvements – R2007b
Generate C using emlc in MATLAB®
Requires Real-Time Workshop®
m-files on path supported for Embedded
MATLAB in Simulink® and Stateflow®
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New features
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
35
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2007a
Fixed Point Tool – 2006b
Includes:
Data type override
Automated scaling
Over/under flow detection
Fixed vs. float plots
>>fxpdemo_feedback
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Fixed-Point Tool - R2008a
Design Min/Max
Problem
Fixed-Point Tool scaling based
on design min and max data
ranges was not supported
Solution
Fixed-Point Tool now leverages
design minimum and maximum
from blocks and Stateflow data
Benefit
Better fits user workflow
Provides autoscaling that does
not require simulation
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Fixed-Point Advisor – R2008a
Float- to fixed-point conversion
Problem
Obtain an initial float- to fixed-
point conversion with least effort
Solution
Fixed-Point Advisor helps
Set model parameters
Set block parameters
Perform fixed-point conversion
Validate conversion using
floating point results
Prepare for code generation
Complement Fixed-Point Tools,
which optimizes fixed-point scaling
>>fxpdemo_fpa
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Demo
Fixed Point Advisor
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New features
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
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Code Efficiency -–R14SP2
R13
R2007a
®
real_T rtb_Switch[10]
Wide Signals (for-loops)
for
real_T rtb_Switch[10]
for
real_T tmp
for
for
for
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Improved Bus Code – R2008a
1
<start>
Out1
Dead code
<end>
1
R2007b
in
in
<size>
2
<signal1>
Gain2
8
8
U U(E)
2
void s_step(void) {
<p_data>
<p_data>
Out4
bus_2 rtb_BusCreator;
Selector
int32_T rtb_size;
int32_T rtb_signal1;
Unnecessary copies
uint8_T rtb_p_data[8];
rtb_size = s_U.in.size;
(void) memcpy(&(rtb_p_data[0]),&s_U.in.p_data, 8*sizeof(uint8_T));
void s_step(void) {
s_Y.Out1 = s_U.in.start - s_U.in.end;
s_Y.Out1 = s_U.in.start - s_U.in.end;
rtb_signal1 = rtb_size << 1U;
s_Y.Out4 = s_U.in.p_data[2];
rtb_BusCreator.size = rtb_signal1;
(void) memcpy(&(rtb_BusCreator.p_data),rtb_p_data, 8*sizeof(uint8_T));
}
(void) memcpy(&(rtb_p_data[0]),&rtb_BusCreator.p_data, 8*sizeof(uint8_T));
R2008a
s_Y.Out4 = rtb_p_data[2];
}
Improving bus code efficiency was a top request for this release
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Coder Infrastructure Circa 1999
IR – Intermediate Representation
TLC – Template Language Compiler
Simulink
IR
TLC
Simulink
C, makefiles
Stateflow
IR
Stateflow
Deployment
Support Only
TLC-based Interfaces
(S-Functions, System
Targets (e.g. GRT, ERT))
MATLAB
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Coder Infrastructure 2008
- Unified for all domains, highly efficient, extensible
Multiple IR analyses and optimizations
S-functions
Simulink
Stateflow
Embedded MATLAB
Simscape
Legacy Code Tool
Simulink Design Verifier
Cross product
optimizations
TLC
Analysis/
Transform
Analysis/
Transform
C, C++
VHDL, Verilog
Makfiles, Projects
Unified IR
IR-based Interfaces
(e.g., BuildInfo, Target
Function Library, …)
TLC-based Interfaces
(e.g., System Targets,
Code Templates, …)
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Cross Product Optimizations – R2008a
Optimizations are now enabled across code segments generated for
Simulink and Stateflow
R2007b
real_T rtb_Gain[10];
…
for (i = 0; i < 10; i++) {
rtb_Gain[i] = 2.0 * in[i];
}
if (cu_DWork.is_active_c1_cu == 0) {
…
} else {
for (sf_i1 = 0; sf_i1 < 10; sf_i1++) {
out[sf_i1] = rtb_Gain[sf_i1];
}
}
R2008a
if (cu_DWork.is_active_c1_cu == 0) {
…
} else {
for (i = 0; i < 10; i++) {
out[i] = 2.0 * in[i];
}
}
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Target Specific Optimizations – R2007b
Example Results
Processor
Algorithm
Function
Tricore®
Fixed-pt
By Infineon® Math
(int32, int32,
saturated)
C6416™
DSP
By TI
FIR
128-sample
(int32,
50-taps,
saturated)
Target Specific Generated Code*
int32_T tricore_add_s32_s32_s32_sat(int32_T a, int32_T b)
{
return (__sat int)a + b;
}
int32_T TI_C6000_s32_add_s32_s32_sat(int32_T a, int32_T b)
{
return _sadd(a, b);
}
Speedup
(over
ANSI-C)
17.1X
6.2X
*Implemented using Target Function Libraries
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New features
Executable Specification
Detailed Design
Code Generation and Integration
Standards and Certification
47
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Code Architecture - Integration
Controller
Model
Communication
Interfaces
Comm
Drivers
Generated
Algorithm
Code
Output
Drivers
M
Actuators
Sensors
Input
Drivers
A
B
Special
Device
Drivers
C
®
BLACK BOX
®
V
RGBSplit-4
RCS
INPUT
BLUE
GREEN
RED
Special
Interfaces
POWER
Legacy Code
Target Code
Tuning
Scheduler/Operating System
and Support Utilities
®
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Subsystem Integration w/Export Functions – R2006a
Supports a popular scheduling technique in production
Streamlines code generated
No scheduler, no model step function
>> rtwdemo_export_functions
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Model Reference – Introduced in Release 14
Only rebuilt if interface
dependent models rebuilt
is changed
(R2008a)
model changed and rebuilt
Incremental code generation is supported via Model Reference
When a model is changed, only the dependent model regenerate
their code
Normal mode model reference in R2007b
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Model Integration w/Prototype Control – R2008a
Problem
Previously, non-reentrant code only
supported void/void function interfaces
Solution
Provide function control for top model
Pass inports/outports as arguments
Pass arguments by value or pointer
Control argument names and order
No wrapper
Model Reference (R2008a)
Benefit
Simplifies code integration and testing
Reduces global RAM usage
extern int32_T application(int32_T In);
Generated step function definition
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Pack-and-Go – Introduced in R2006b
Packages generated code and all dependencies (via zip)
Includes Referenced Models – R2008a
Code, Pack
(Computer A)
Go
Unpack, Build
(Computer B)
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Legacy Code Tool – Introduced in R2006b
Integrates external code for simulation and
code generation (e.g., legacy lookup tables)
Registration File
Earlier version of LCT on MATLAB Central
Simulation Model
Generated Code
>> sldemo_lct_lut
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Legacy Code Tool – R2007b
Enhanced for non-computational data integration (device driver, file descriptor,…)
S-Function
IO
S-Function
Parameter
S-Function
DWork
Y
Y
Y
Y
N/A
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
N/A
Y
N/A
Y
Y
Y
Scalar, 1D array, and 2D array
Y
Y
Y
ND array
Y
Y
Y
Void* & Void **
N
N
R2007b
Built-in data types
Simulink.Bus 1 (scalar only)
Simulink.AliasType
1
Simulink.NumericType
Fixed-point data types
2
3
Fi object
Complex number
4
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New features
Executable Specification
Detailed Design
Code Generation and Integration
Certification and Standards
55
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Standards and Certification
AUTOSAR (previously discussed)
IEC 61508 Safety Guidelines (discussed tomorrow)
MAAB Model Guidelines (v2)
MISRA C® Code Guidelines (2004)
56
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Model Standards Checks in Simulink Verification
and Validation™
MAAB v2 checks in R2007b
IEC 61508 checks in R2008a
57
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MISRA-C Compliance History of Generated Code
• Our MISRA-C test
suite consists of
several example
models
• Results shown for
most frequently
violated rules
Improving MISRA-C compliance with each release, such as:
Compliant code generated from enabled subsystems (R2007b)
Eliminate Stateflow® goto statements (R2007a)
Compliant parentheses option available (R2006b)
Generate default case for switch-case statements (R2006b)
MathWorks MISRA-C Compliance Package available upon request
www.mathworks.com/support/solutions/data/1-1IFP0W.html
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Stateflow and Embedded MATLAB Traceability – R2008a
Problem
No automated way to trace
Stateflow chart and Embedded
MATLAB code to generated code
Solution
Generate comments that
automatically link Stateflow
objects and Embedded MATLAB
functions to the generated code
Allow model-to-code and code-tomodel bidirectional navigation
Benefit
Bidirectional traceability helps
code reviews, code verification,
and software certification
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Agenda
PCG Historical Review
1990s (Circa Release 11)
2000s (Circa Release 14)
Today (R2008a)
New Features
Executable Specification
Detailed Design
Code Generation and Integration
Certification and Standards
The Future?
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Way Forward Machine
John Deere Production Code Generation - SAE CV 07
www.mathworks.com/mason/tag/proxy.html?dataid=9939&fileid=44540
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Way Forward Machine
20 MLOC
in 2013
Christopher Davey, Ford Motor Co, et al.
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More Info – Product web page
Supported Hardware
- All links and targets
- Incl. Third Parties
Demos and Webinars
- Short web clips (2-5 minutes)
Technical Literature
- Conference papers
PCG Eval Kit for Eclipse (Europa)
- Step by step tuturial (3-4 hours)
- Earlier version in >>rtwdemos
www.mathworks.com/rtwembedded
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More Info – MATLAB Central
Demos
- Lego NXT Robots
- Task Profiling (5554)
- Dual Core (Blackfin)
Tools and Blocksets
- Code Coverage Tool
- Model Assistant Tool
- Target Blocksets
www.mathworks.com/matlabcentral/fileexchange
(Production Code category)
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More Info – Support Examples
Categories
- Design Patterns
- Integration with Targets
- Scheduling and Multirate
- Standards and Guidelines
New for 2008a
Stateflow Pattern Wizard
Fixed Point Tips for R2008a
Model Patterns for C constructs
Best Practices for Date Stores
www.mathworks.com/support/product/examples.html?product=SL&category=all
(Production Code category)
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We are very interested in learning about
your production code needs.
Thank you!
[email protected]
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One More Thing …
Are you working on or planning for
an IEC 61508 project?
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Validated by TÜV
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* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project
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