matlab simulink dll in canape

© 2007. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

V2.92 2007-08-08

Matlab/Simulink DLLs in CANape 6.5

Vector Informatik GmbH

Dipl.- Ing. Andreas Patzer

Dipl.- Ing.(FH) Gernot König

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Slide:

Agenda

Use Case 4: Generate CAN Messages with Simulink DLL

Use Case 3: Bypassing with XCP

Use Case 2: Simulink DLL as an Offline Analyzing Tool

Use Case 1: Simulink DLL during Online Measurement

Model Explorer

Integrate Simulink DLL into CANape

Defining Signals and Parameters

Create a Simulink DLL from a Simulink Model

Create a Simulink model

Configuration of Matlab

Installation of CANape Realtime Target

Version / Software Information>

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Version / Software Information

❑ The Matlab/Simulink Target for CANape supports

❑ Matlab/Simulink Version 7.0, 7.1, 7.2 (R2006a), 7.3 (R2006b), 7.4 (R2007a)

❑ Microsoft C++ Compiler 6.0, 7.1 (Visual Studio 2003) and 8.0 (Visual Studio 2005)

❑ Microsoft C++ Compiler 8.0 needs Matlab Simulink 7.2 (R2006a) atleast

❑ The current CANape Realtime Target 6.2.0 or above is necessary.

❑ To use Simulink DLLs CANape Graph Version 5.0 or above is necessary (CANape 6.5 is recommended).

This documentation is based on Matlab/Simulink 7.4 (R2007a), CANape 6.5and CANape Realtime Target 6.2.2

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Agenda





Model Explorer






Installation of CANape Realtime Target>


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❑ Install the CANape Real-Time Target (DLL) for the Matlab/Simulink Real Time Workshop.

❑ The CANape Real-Time Target is included in the CANape MATLAB Integration Package that comes with CANape.

❑ Please find further information in Readme.htm which will be displayed after the installation.

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Agenda





Model Explorer





Configuration of Matlab>



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❑ Choose your preferred compiler in Matlab by using the command: >> mex –setup

❑ Answer the question:Would you like mex to locate installed compilers [y] /n? with "yes" and make your decision

❑ The Matlab search path (File -> Set Path…) will be set automatically. If your model couldn´tbe created be sure that the following entries are on top of the list

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Agenda





Model Explorer




Create a Simulink model>




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❑ Create a new model in Matlab ❑ Start the Library browser

Step 1: new model

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❑ The Library Browser displays all available blocksets. For the CANape target there are additional I/O blocksets in "Vector CANape".

❑ Blocksets could be inserted into the model using drag&drop:

❑ Each model should have one input block and one output block at least.

Step 2: Library Browser

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❑ Define the symbolic names of the I/O’s in the model via a double click (these names are used by CANape to connect to real measurements/parameters or global variables)

❑ Insert your algorithm

❑ Of course, it is possible toinsert multiple Input-/Output-Blocks

Step 3: Names for I/O´s

In CANape 6.5, the mapping between the model and real signals inCANape can be done by naming conventions. If the same name of an IO in the model and in e.g. an A2L- or DBC-file is used, CANape can map them automatically.

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Agenda





Model Explorer



Create a Simulink DLL from a Simulink Model>





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Create a Simulink DLL from a Simulink ModelOverview

Simulink Model

Realtime Workshopwith

CANape Target

DLL

❑ The next slides will show how a Simulink DLL is created using the Realtime Workshop with CANape Target.

❑ Then the integration of the Simulink DLL into CANape is shown.

A2L MAP

INI EMFEMFEMF

INI:Model Description file

EMF: Pictures of the model hierarchy

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1. Open an existing model or create one (see chapter "create a simulinkmodel").

2. Select the CNP target in the RealTime Workshop

3. Select fixed step for the running mode of the DLL

4. Select the end time

5. Select and define inline parameters

6. Build the DLL

7. Integrate the DLL into the measurement list of CANape

8. Define the time raster and the synchronization between the signals and the Simulink DLL

HowTo

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Tools->RealTime Workshop->Options

Select CANape (cnp.tlc)Target

Select CANape Target

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Define Output Directory

Select CNP code generation options

Define Output Directory

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Create a Simulink DLL from a Simulink ModelTime synchronization between CANape and the model DLL

In the Real Time Workshop a time raster can be defined for the model

❑ Alternative 1:

❑ The Simulink DLL has a time raster defined in the Real Time Workshop options. The DLL gets the actual time from CANape. The DLL itself calculates in the defined time raster.

❑ Alternative 2:

❑ In CANape the time raster of the DLL is defined in the measurement list and is independent from the Real Time Workshop based raster

In both cases CANape and the Simulink DLL are working time synchronized together.

To realize fast communication (time raster below 10ms) between CANape and the model DLL please set the following CANape option:

Tools -> Options-> Driver ->

Make sure that a CANcardXL is used in the system!

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Select “Fixed-Step”

Select “inf” inf means “No stop time”

Select the preferred algorithm

Define time rate of the model 0.1 means: The model is running in a 100ms raster.

“SingleTasking”the DLL is running in one task

Solver options

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Select “Inline parameters” for generating an ASAP2 file (*.A2L)

Inline parameters

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Create a Simulink DLL from a Simulink ModelBuild model

Generate the Simulink DLL (Ctrl + B)

The generated files (DLL, A2L, map file and source files) are located under:<model name>_cnp_rtw

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Agenda





Model Explorer


Defining Signals and Parameters>






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❑ Measurement signals and parameters of Simulink blocks that should be accessible by CANape have to be defined as Simulink Data Objects in the MATLAB Workspace with:

X = ASAP2.Parameter or X = ASAP2.Signal

The target will automatically generate an ASAP2 file for the model. Additional information needed in the ASAP2 file has to be added to the Simulink data objects:

Matlab Version 7x.Value = xxxxx.Min = xxxx.Max = xxx

Matlab Version 6x.Value = xxxx.PhysicalMin_ASAP2 = xxxx.PhysicalMax_ASAP2 = xxx


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StorageClass„ExportedGlobal“

❑ Signals and Parameters must have Storage Class „Exported Global“

Define range of values

Important:Define a start value e. g. ‘1’

Defining Parameters

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1.) Double Click on line2.) Give the line a name

Defining Signals

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Define Min, Max

If needed, definea unit for the signal

StorageClass„ExportedGlobal“

Defining Signals

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/begin MEASUREMENT

/* Name */ Signal_1

/* Long identifier */ ""

/* Data type */ FLOAT64_IEEE

/* Conversion method */ COMPU_METHOD_1

/* Resolution (Not used) */ 0

/* Accuracy (Not used) */ 0

/* Lower limit */ -100.0

/* Upper limit */ 100.0

ECU_ADDRESS 0

/begin IF_DATA CANAPE_EXT

100

LINK_MAP "Signal_1" 0x0 0x0 0 0x0 0 0x0 0x0

/end IF_DATA

/end MEASUREMENT

Entry in the A2L File

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Agenda





Model Explorer

Integrate Simulink DLL into CANape>







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Open the measurement list

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1.) Insert new Simulink model into the measurement list

2.) Select the DLL

3.) The IOs of the model are shown automatically

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Select a device for the automatic link (=map by name).

Link manually the IO’s that couldn’t be linked automatically

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In this case, the input of the model is mapped to a signal ‘channel1’ of the ECU ‘XCPsim’. This signal can be measured in different modes. The selection is done here.

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The output ports of the model are mapped to parameters ‘testword0’ and ‘testword1’ of the ECU XCPsim. The values can be calibrated in different modes. In XCPsim there is only one STIM (stimulation) mode. It’s called ‘FilterBypassSt’. The selection is done here.

With this configuration, a bypassing is establihed.

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Integrate Simulink DLL into CANapeTime Synchronization between CANape and the Simulink DLL

By selecting the measurement mode of the input signals (in this case ‘channel1’), the model itself will be called by CANape in the same mode (‘on XCPsim 10ms’ event of the ECU).

To measure a signal out of the model, an event in the model can be used. It’s called ‘<modelname> calculated’. This event occurs, after the model is ready with the calculation cycle.

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ECU

XCPsimCANape

Simulink DLL

asap2demo_test1

Cyclic on ECU event ‘10 ms’channel1

testword0testword1

Cyclic on ECU event “10 ms”

Time Synchronization

Download mode

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1. Integrate the model as a device into CANape

2. Select A2L file of the model.

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CANape reads the A2L file and tries to go online with the device. If this does not work, stay offline and open ‘Driver parameters’

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1. Bus type must be ‘USER_DEFINED’

Bus interface ‘<Browse DLL>´

2. Press Configuration and select

3. Select the model.DLL

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Be aware, that the addresses in the A2L file are all initialized with 0000. Make sure that you update your addresses before starting measurement and calibration of the model.

Select the appropriatemap file format

MAP

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Now the DLL is integrated as a Device in CANape, with XCP over DLL port

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Right mouse button, select “Matlab/Simulink window”

With the integration of the Simulink DLL into the measurement list, the DLL is up and running.

Optional:To visualize the Simulink DLL a special window is available. It doesn’t have to be used.

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1.) Select the Simulinkmodel INIfile

2.) Select the device, described with the model A2L

This can be used to show the model in the ‘old’ style

A2L

INI

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Agenda





Model Explorer>








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Slide:

Model Explorer

❑ This description based on the functionality of the code generation with RealTime Workshop and the usage of the CANape Target.

❑ In the make process, there is a Matlab call: VSaveModel(‘<modelname>’) to generate the model description file and the EMF files of the model.

❑ If you does not use the CANape Target or even not the RealTimeWorkshop for code generating, you can use the Model Explorer anyway in CANape.

❑ The next slide shows, how to use VSaveModel ()

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Slide:

Model Explorer

� Model is developed in Simulink

� Type in Matlab Command Window:

� VSaveModel (‘<Modelname>’)

� (VSaveModel is a Matlab Script developed by Vector which is part of the Matlab Integration Package)

❑ EMF-Files from the model and its subsystems and a description file (INI) are generated, e.g.:

Generate Data Without CANape Target and Realtime Workshop

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Model ExplorerExample

The Model Explorer shows the Simulink model in nearly the same way like Simulink. To generate the description file and the EMF files, a Matlab / Simulink is necessary.

For the usage of the Model Explorer in CANape, the user does not need an own Matlab / Simulink license.

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Model ExplorerNavigation

Simple click into subsystem (mouse pointer is shown as a hand) brings you down into the subsystem

Double Click into subsystem brings you up to the higher level hierarchy

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When a parameter in a block is defined as a A2L parameter, a tooltip occurs.

By double click into the block, the parameter windows come up.

Even the CANape measurements is running, you can open and close the parameter windows.

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Model Explorer

With extended tool tip, all Simulink

parameters are shown

The standard tool tip, shoes the A2L-File parameters

Navigation

Right mouse click into Explorer:

Zoom in and out

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Model Explorer

Right mouse click onto an object, offers the possibility to find the object in the model.

Drag the object and drop it into an already existing window or into CANape to open a new window.

Navigation

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Insert search string

Type, name and path will be shown directly

Right mouse click onto the object let you jump directly to the right page and the object will flash 3 times to show the position

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Model Explorer

� To find the object in the model, select the object in the tree with a right mouse click and select ‘Display in the graphic’.

� The explorer will show the right hierarchy layer and the object will slowly flash 3 times.

� Just the other way round: Right mouse click on the object in the picture and the object is highlighted in the tree.

Flashing!

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Slide:

Agenda




Use Case 1: Simulink DLL during Online Measurement>

Model Explorer








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Right mouse button, select “Insert measurement signal”

The DLL can be used in the online mode as mentioned before.


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Alternative 1:

❑ The output is assigned to an adjustable parameter

❑ By inserting the DLL as a signal, the time raster will be shown.

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Alternative 2:

❑ The output is assigned to "function result"

❑ By inserting the DLL as a signal, the result of the Simulink DLL is displayed

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Slide:

Use Case 1: Simulink DLL during Online MeasurementSignal measurement out of the Model

Model

CANape

ECU

‘XCPsim’

DAQ:channel1channel2

flag_subsystem1

Event:‘10ms’

channel1channel2flag_subsystem1

Model will be called, every time, the input signals are available

Input

Output

STIM:testword0testword1testword2testwod3

Event:‘FilterBypassS’

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Use Case 1: Simulink DLL during Online MeasurementRepresentation in the Model Configuration

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Use Case 1: Simulink DLL during Online MeasurementRepresentation in the Measurement list

The model itself is called with the event of the input signals

The internal signal is measured after the model is completely calculated

The stimulated signal is measured with the stimulation event (only available with XCP)

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Agenda



Use Case 2: Simulink DLL as an Offline Analyzing Tool>


Model Explorer








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Example: Two signals from the file “Canape.MDF”

Right mouse button into the window

Select “Insert virtual file channel …”or press Shift+F7


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Select “Matlab DLL”

Select the DLL


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Select the signals from the file and map them to the In-/Outputs of the model or link them automatically

The disc symbol shows that thesource of the signal is a file.

Select a time raster. Normally the fastest time raster of one of the input signals fits best.

Select time range of the calculation. You can eitheruse an explicit time range.


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Now an additional signal is integrated. The signal is calculatedthrough the Simulink DLL.

Use CasesUse Case 2: Simulink DLL as an Offline Analyzing Tool

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1.) right mouse button ->“Save signals”

2.) Select time range and store signals in new file


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Agenda


Use Case 3: Bypassing with XCP>



Model Explorer








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Bypassing can be realized by making use of Synchronous Data Acquisition and Synchronous Data Stimulation simultaneously.

ECU

1. 2.1. Synchronous Data AcQuisition (DAQ)2. Synchronous Data Stimulation (STIM)

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Slide:

ECU.A2L


1.

Simulink DLL2.

3.

4.

PC

Signal path1. Receiving signals from the ECU (DAQ)2. Sending the signals as an input into the DLL3. Sending the results back to CANape4. Sending the results back to the ECU (STIM)Calibration path5. Calibration of the ECU (XCP)6. Calibration of the DLL like an ECU with XCP

Model.A2L6.

5.

ECU

XCP

Communication flow for a bypassing use case

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Definition of the Stimulation Event for:4. Sending the results back to the ECU (STIM)

Use events channels with STIM capability only!

This event channel cannot be used for bypassing

therefore:

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Model I/O-name ECU-I/O-nameSum_in1 channel1Sum_in2 channel2Sum_out limit

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ECU

XCPsim

SimulinkDLL

“m_sum”

Cyclic on ECU event “10 ms”channel1channel2

limit

Cyclic on ECU event “10 ms”

The „stimulate“ mode is available in version 5.6and above.

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Data from CANape to the ECU

Data from ECU to CANape

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Using bypassing, the normal standard PC is the platform for the running model. In the example, the measurement was running 6 h!

Time Delay

0

50000

100000

150000

200000

250000

300000

350000

400000

450000

Time

/ ms

0,20

480,

4096

0,61

440,

8192

1,02

4

1,22

881,

4336

1,63

841,

8432

2,04

82,

2528

2,45

762,

6624

2,86

72

3,07

2

3,27

68

Time Delay

Bypassing time measured in the ECU!

Latency range: 0,4 – 1,6ms

tn1 tn2∆t = n1 tn2

ECU.A2L

1.

2.

3.

4.

PC

Model.A2L6.

5.

ECU

XCP

ECU.A2L

1.

Simulink DLL2.

3.

4.

PC

Model.A2L6.

5.

ECU

XCP

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on RS 232

slaveslave

SxI

ETH ETH

DPRAM

ETH

RS 232

CAN

slave

Ethernet

CAN

slave

USB

USB

DLL

slave

on ##

on CANon USB

on SxI

on Etherneton Etherneton Ethernet

slave slave slave

LIN

LIN

on LIN

F

L

X

on FlexRay

FlexRay

slave

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Slide:

Agenda

Use Case 4: Generate CAN Messages with Simulink DLL>




Model Explorer








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❑ Integrate a new Device

❑ Select “CAN” as the driver type

❑ Select a matching DBC file as the database


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Map the output value of the DLL to the signal in the DBC


Start measurement in CANape. By changing the value of the selected signal ‘Kanal1’, CANape will generate a new message and send it to the bus.

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This message was generated by CANape, cause the DLL changed the value of the signal ‘Kanal1’

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Thank you for your attention.

For detailed information about Vector

and our products please have a look at:

www.vector-informatik.com

Author:

[email protected]

[email protected]

Vector Informatik GmbH

Ingersheimerstr. 24

70499 Stuttgart

MATLAB, Simulink, Stateflow, Handle Graphics, Real-Time Workshop, SimBiology, SimHydraulics, SimEvents, and xPC TargetBox are registered trademarks and The MathWorks, the L-shaped membrane logo, Embedded MATLAB, and PolySpace are trademarks of The

MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of their respective holders.

matlab simulink dll in canape

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