13.2. dSPACE deployment through Simulink Coder¶
This process applies to the following dSPACE platforms
dSPACE MicroAutoBox II
dSPACE AutoBox
dSPACE MicroLabBox
Important
When deploying to a target hardware platform, the library included in the lib_target directory of the generated solver should be used instead of the library in the lib directory.
13.2.1. Platform Specific Configurations¶
13.2.1.1. Platform name codeoption¶
When generating code for HW target platforms, codeoptions.platform
needs to be set.
dSPACE MicroAutoBox II:
'dSPACE-MABII'
dSPACE AutoBox:
'dSPACE-AutoBox'
dSPACE MicroLabBox:
'dSPACE-MicroLabBox'
13.2.1.2. Simulink Model HW Target Configuration¶
When creating a Simulink Model for HW target platforms, certain hardware options need to be set.
Simulink Model Template
:dSPACE MicroAutoBox II:
RTI1401
dSPACE AutoBox:
RTI1007
dSPACE MicroLabBox:
RTI1202
System target file
:dSPACE MicroAutoBox II:
rti1401.tlc
dSPACE AutoBox:
rti1007.tlc
dSPACE MicroLabBox:
rti1202.tlc
Template makefile
:dSPACE MicroAutoBox II:
rti1401.tmf
dSPACE AutoBox:
rti1007.tmf
dSPACE MicroLabBox:
rti1202.tmf
13.2.2. High-level interface¶
The steps to deploy and simulate a FORCESPRO controller on a dSPACE platform are detailed below.
(Figure 13.1) Set the code generation options (for
<platform_name>
see Platform name codeoption):
codeoptions.platform = '<platform_name>'; % to specify the platform
codeoptions.printlevel = 0; % on some platforms printing is not supported
codeoptions.cleanup = 0; % to keep necessary files for target compile
and then generate the code for your solver (henceforth referred to as “FORCESNLPsolver”, placed in the folder “BasicExample”) using the high-level interface.
(Figure 13.2) Create a new Simulink model using the Simulink model template provided by dSPACE (for
<simulink_model_template>
see Simulink Model HW Target Configuration).(Figure 13.3) Populate the Simulink model with the system you want to control.
(Figure 13.4) Make sure the
FORCESNLPsolver_simulinkBlock.mexw64
file (created during code generation) is on the MATLAB path.
(Figure 13.5) Open the
FORCESNLPsolver_lib.mdl
Simulink model file, contained in theinterface
folder of theFORCESNLPsolver
folder created during code generation.(Figure 13.6) Copy-paste the FORCESPRO Simulink block into your simulation model and connect its inputs and outputs appropriately.
(Figure 13.7) Access the Simulink model’s options.
(Figure 13.8) In the “Solver” tab, set the options:
Simulation start/stop time: Depending on the simulation wanted.
Solver type: Discrete or fixed-step.
Fixed-step size: Needs to be higher than the execution time of the solver.
(Figure 13.9) In the “Code Generation” tab, set the options (for
<tlc_file>
and<makefile_template>
see Simulink Model HW Target Configuration):
System target file:
<tlc_file>
Language: C
Generate makefile: On
Template makefile:
<makefile_template>
Make command:
make_rti
(Figure 13.10) In the “Code Generation/Custom Code” tab, include the directories:
BasicExample
BasicExample\FORCESNLPsolver\interface
BasicExample\FORCESNLPsolver\lib_target
(Figure 13.11) In the “Code Generation/Custom Code” tab, add the source files:
FORCESNLPsolver_simulinkBlock.c
FORCESNLPsolver_adtool2forces.c
FORCESNLPsolver_casadi.c
(Figure 13.12) In the “Code Generation/Custom Code” tab, add the library file:
FORCESNLPsolver.lib
(Figure 13.13) Access the FORCESPRO block’s parameters.
(Figure 13.14) Remove the “FORCESNLPsolver” prefix from the S-function module.
(Figure 13.15) Compile the code of the Simulink model. This will also automatically load the model to the connected dSPACE platform.
Deployment is complete and simulations can now be run on the dSPACE platform.
13.2.3. Y2F interface¶
13.2.3.1. Instructions¶
The steps to deploy and simulate a FORCESPRO controller on a dSPACE platform are detailed below.
(Figure 13.16) Set the code generation options (for
<platform_name>
see Platform name codeoption):
codeoptions.platform = '<platform_name>'; % to specify the platform
codeoptions.printlevel = 0; % on some platforms printing is not supported
and then generate the code for your solver (henceforth referred to as “simplempc_solver”, placed in the folder “Y2F”) using the Y2F interface.
(Figure 13.17) Create a new Simulink model using the Simulink model template provided by dSPACE (for
<simulink_model_template>
see Simulink Model HW Target Configuration).(Figure 13.18) Populate the Simulink model with the system you want to control.
(Figure 13.19) Make sure the
simplempc_solver_simulinkBlock.mexw64
file (created during code generation) is on the MATLAB path.
(Figure 13.20) Copy-paste the FORCESPRO Simulink block, contained in the created
y2f_simulink_lib.slx
Simulink model file, into your simulation model and connect its inputs and outputs appropriately.
(Figure 13.21) Access the Simulink model’s options.
(Figure 13.22) In the “Solver” tab, set the options:
Simulation start/stop time: Depending on the simulation wanted.
Solver type: Discrete or fixed-step.
Fixed-step size: Needs to be higher than the execution time of the solver.
(Figure 13.23) In the “Code Generation/RTI general build options” tab, set the options (for
<tlc_file>
and<makefile_template>
see Simulink Model HW Target Configuration):System target file:
<tlc_file>
Language: C
Generate makefile: On
Template makefile:
<makefile_template>
Make command:
make_rti
(Figure 13.24) In the “Code Generation/Custom Code” tab, include the directories:
Y2F
Y2F\simplempc_solver\interface
Y2F\simplempc_solver\lib_target
(Figure 13.25) In the “Code Generation/Custom Code” tab, add the source files:
simplempc_solver_simulinkBlock.c
simplempc_solver.c
(Figure 13.26) In the “Code Generation/Custom Code” tab, add the library files:
internal_simplempc_solver_1.lib
(Figure 13.27) Compile the code of the Simulink model. This will also automatically load the model to the connected dSPACE platform.
Deployment is complete and simulations can now be run on the dSPACE platform.