Schnell und effizient durch Automatische Codegenerierung

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Wilfrid Grant
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1 Schnell und effizient durch Automatische Codegenerierung Andreas Uschold MathWorks 2015 The MathWorks, Inc. 1

2 ITK Engineering Develops IEC Compliant Controller for Dental Drill Motor with Model-Based Design Challenge Develop and implement field-oriented controller software for sensorless brushless DC motors for use in dental drills Solution Use Model-Based Design with Simulink, Stateflow, and Embedded Coder to model the controller and plant, run closed-loop simulations, generate production code, and streamline unit testing Results Development time halved Hardware problems discovered early Contract won, client confidence established Dental drills featuring ITK Engineering s sensorless brushless motor control. Model-Based Design with Simulink enabled us to reduce costs and project risk through early verification, shorten time to market on an IEC certified system, and deliver high-quality production code that was first-time right. Michael Schwarz ITK Engineering 2

and streamline unit testing Results Development time halved Hardware problems discovered early Contract won, client confidence established Dental drills featuring ITK Engineering s sensorless

3 Development Process Requirements System-Level Specification System Design Environment Physical Components Algorithms Component Design Verification and Validation Code Verification and Validation testing User Acceptance Testing System-Level & Test Complete & Test Design Embedded Software Digital Electronics & Test C, C++ VHDL, Verilog MCU DSP FPGA ASIC Implementation Implementation 3

Validation testing User Acceptance Testing System-Level & Test Complete & Test Design Embedded

4 Automatic Code Generation Requirements C/C++, VHDL and PLC-Code Generation from one model C, C++ VHDL, Verilog User Acceptance Testing Structured Text System-Level Specification System Design Support for Fixed Point Data Format Environment Automatic scaling Supported in Simulation and Code-Generation Physical Components Algorithms Easy integration of legacy C/C++-Code System development Component independent Design of the target MCU Embedded Coder (C, C++) DSP FPGA Code Verification and Validation ASIC testing HDL Coder (VHDL, Verilog) PLC Coder (Structured Text) PLC PLC System-Level & Test Complete & Test Design Embedded DSP & µc Digital Software Electronics C, C++ VHDL, Verilog & Test FPGA & ASIC MCU DSP FPGA ASIC Implementation Implementation 4

System development Component independent Design of the target MCU Embedded Coder (C, C++) DSP FPGA Code Verification and Validation ASIC testing HDL Coder (VHDL, Verilog) PLC Coder

5 Code Generation Workflow Controller 5

6 C/C++ - Code Generation Products and Hardware Support Packages Embedded Coder Simulink Coder MATLAB Coder 6

7 Development Process Requirements System-Level Specification System Design Environment Physical Components Algorithms Component Design Verification and Validation Code Verification and Validation testing User Acceptance Testing System-Level & Test Complete & Test Design Embedded Software Digital Electronics & Test C, C++ VHDL, Verilog MCU DSP FPGA ASIC Implementation Implementation 7

8 POWER BLACK BOX V RCS IN P U T BLUE GREN RED Model-Based Design Verification and Validation Controller? Communication Interfaces Sensors Comm Drivers Generated Algorithm Code *.c / *.h *.cpp / *.hpp Output Drivers M Actuators? A B C Input Drivers Included Target Optimized Code Special Device Drivers Tuning RGBSplit-4 Special Interfaces Scheduler/Operating System and Support Utilities 8

9 Verification and Validation Prove Equivalency and Check Efficiency with Processor-in-the-Loop (PIL) 9

10 Use Processor-in-the-Loop to Prove Equivalency Use Simulation Data Inspector to prove functional equivalence Visualize single runs or compare multiple runs to each other! 10

11 Check Efficiency using Processor-in-the-Loop Profiling Use PIL profiling to check the efficiency of generated code on the target Analyse bottlenecks 11

12 3 Things to Remember Model-Based Design helps to detect design bugs early Model-Based Design speeds up the development process One tool chain for Model Based Design and Code Generation 12

Entwicklung und Testen von Robotischen Anwendungen mit MATLAB und Simulink Maximilian Apfelbeck, MathWorks

Entwicklung und Testen von Robotischen Anwendungen mit MATLAB und Simulink Maximilian Apfelbeck, MathWorks 2015 The MathWorks, Inc. 1 Robot Teleoperation IMU IMU V, W Control Device ROS-Node Turtlebot