1© 2014 The MathWorks, Inc.

嵌入式代码自动生成

周玲/ Ling.Zhou@mathworks.cn应用工程师201406

2

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

3

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

4

核心算法的代码自动生成

Core

Software

Algorithms

and Logic

A B C

M

I N P U T

B L U E G R E E N R E D

P O W E R

RGBSplit-4BLACK BOX

V R C S

Input

Drivers

Output

Drivers

Special

Device

Drivers

Comm

Drivers

Scheduler/Operating System

And Support Utilities

Communication

Interfaces

Sensors

Actuators

Special

Interfaces

ASAP2

CCP

Most

Development

is on Core

Software

Algorithms

5

代码量的爆炸式增长

Estimated Source Lines of Code

(LOC)

Today’s powertrain: 500,000 LOC

Today’s vehicles: 1,000,000 LOC

2015 vehicles: 100,000,000 LOC

Management trends:

High-level architectural planning

Algorithm development with models

Automatic generation of code

from models

Industry-wide standardization of

interfaces and common functionality

Automotive Engineering,

“Managing for Software Success” – Aug 2006

sae.org/automag/electronics/08-2006/1-114-8-34.pdf

“Growth of top end automotive

embedded software has been

exponential.” Robert Gee

Director of Strategy for Motorola Automotive

“…No longer possible to

validate and verify

functionality by brute force

testing alone.” Jim Kolhoff

Director of Software Engineering at GM

Powertrain

http://www.sae.org/automag/electronics/08-2006/1-114-8-34.pdf

6

使用更高效的算法开发平台

7

代码自动生成

8

代码自动生成工具

MATLAB® Coder™

Generate C and C++ from MATLAB

Simulink® Coder™

Generate C and C++ from Simulink and

Stateflow

Embedded Coder™

Generate C and C++ from MATLAB and

Simulink optimized for embedded systems

Simulink

Coder

MATLAB Coder

Embedded

Coder

9

代码自动生成已成为行业趋势Click for User Story

http://www.mathworks.com/industries/auto/iac/presentations/keener.pdfhttp://www.mathworks.com/industries/auto/iac/presentations/keener.pdfhttp://www.mathworks.com/products/rtwembedded/userstories.html?file=45567http://www.mathworks.com/products/rtwembedded/userstories.html?file=45567http://www.mathworks.com/products/rtwembedded/userstories.html?file=49476http://www.mathworks.com/products/rtwembedded/userstories.html?file=49476http://www.mathworks.com/products/rtwembedded/userstories.html?file=45644http://www.mathworks.com/products/rtwembedded/userstories.html?file=45644http://www.mathworks.com/products/rtwembedded/userstories.html?file=45639http://www.mathworks.com/products/rtwembedded/userstories.html?file=45639http://www.mathworks.com/products/rtwembedded/userstories.html?file=45538http://www.mathworks.com/products/rtwembedded/userstories.html?file=45538http://www.mathworks.com/products/rtwembedded/userstories.html?file=45638http://www.mathworks.com/products/rtwembedded/userstories.html?file=45638http://www.mathworks.com/products/rtwembedded/userstories.html?file=45577http://www.mathworks.com/products/rtwembedded/userstories.html?file=45577http://www.mathworks.com/products/rtwembedded/userstories.html?file=45588http://www.mathworks.com/products/rtwembedded/userstories.html?file=45588http://www.mathworks.com/products/rtwembedded/userstories.html?file=45689http://www.mathworks.com/products/rtwembedded/userstories.html?file=45689http://www.mathworks.com/products/rtwembedded/userstories.html?file=45513http://www.mathworks.com/products/rtwembedded/userstories.html?file=45513http://www.mathworks.com/products/rtwembedded/userstories.html?file=45601http://www.mathworks.com/products/rtwembedded/userstories.html?file=45601http://www.mathworks.com/products/rtwembedded/userstories.html?file=50327http://www.mathworks.com/products/rtwembedded/userstories.html?file=50327http://www.mathworks.com/automotive/mac2010/pdfs/AutomaticCodeGenerationofAUTOSARSoftwareComponentsPres.pdfhttp://www.mathworks.com/automotive/mac2010/pdfs/AutomaticCodeGenerationofAUTOSARSoftwareComponentsPres.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/2_autosar.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/2_autosar.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/6_testsuite.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/6_testsuite.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/3_rtwecoder.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day2/presentations/3_rtwecoder.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day1/presentations/3_proofofconcept.pdfhttp://www.mathworks.com/industries/auto/mac2007/proceedings/day1/presentations/3_proofofconcept.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/24-iac2006-psa.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/24-iac2006-psa.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/25-iac2006_slide_final_toyota.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/25-iac2006_slide_final_toyota.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/28-denso.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/28-denso.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/14-Gillet-Autoliv.pdfhttp://www.mathworks.com/industries/auto/iac06/presentations/14-Gillet-Autoliv.pdfhttp://www.mathworks.com/products/rtwembedded/userstories.html?file=45642http://www.mathworks.com/products/rtwembedded/userstories.html?file=45642http://www.mathworks.com/mason/tag/proxy.html?dataid=4362&fileid=20303http://www.mathworks.com/mason/tag/proxy.html?dataid=4362&fileid=20303http://www.sae.org/mags/aei/9027http://www.sae.org/mags/aei/9027http://www.mathworks.com/mason/tag/proxy.html?dataid=9939&fileid=44540http://www.mathworks.com/mason/tag/proxy.html?dataid=9939&fileid=44540http://www.mathworks.com/products/rtwembedded/userstories.html?file=45633http://www.mathworks.com/products/rtwembedded/userstories.html?file=45633http://www.mathworks.com/company/events/programs_de/iac2004/presentations/18_pp_FIAT.pdfhttp://www.mathworks.com/company/events/programs_de/iac2004/presentations/18_pp_FIAT.pdfhttp://www.mathworks.com/automotive/iac06/presentations/07-Assfalg-Bosch.pdfhttp://www.mathworks.com/automotive/iac06/presentations/07-Assfalg-Bosch.pdfhttp://www.mathworks.com/company/events/programs_de/iac2004/presentations/04_pp_siemens_vdo.pdfhttp://www.mathworks.com/company/events/programs_de/iac2004/presentations/04_pp_siemens_vdo.pdfhttp://www.mathworks.com/products/rtwembedded/userstories.html?file=45539http://www.mathworks.com/products/rtwembedded/userstories.html?file=45539http://www.mathworks.com/products/rtwembedded/userstories.html?file=45631http://www.mathworks.com/products/rtwembedded/userstories.html?file=45631http://www.mathworks.com/products/rtwembedded/userstories.html?file=45471http://www.mathworks.com/products/rtwembedded/userstories.html?file=45471http://www.mathworks.com/products/rtwembedded/userstories.html?file=45642http://www.mathworks.com/products/rtwembedded/userstories.html?file=45642http://www.mathworks.com/products/rtwembedded/userstories.html?file=45522http://www.mathworks.com/products/rtwembedded/userstories.html?file=45522http://www.mathworks.com/products/rtwembedded/userstories.html?file=45550http://www.mathworks.com/products/rtwembedded/userstories.html?file=45550http://www.mathworks.com/company/user_stories/userstory45557.htmlhttp://www.mathworks.com/company/user_stories/userstory45557.htmlhttp://www.mathworks.com/products/rtw/userstories.html?file=7895&title=ABB Accelerates Application Control Software Development for a Power Electronic Controllerhttp://www.mathworks.com/products/rtw/userstories.html?file=7895&title=ABB Accelerates Application Control Software Development for a Power Electronic Controllerhttp://www.mathworks.com/products/rtwembedded/userstories.html?file=17102http://www.mathworks.com/products/rtwembedded/userstories.html?file=17102http://www.mathworks.com/products/rtw/userstories.html?file=11240&title=Wartsila Accelerates Engine Control Development Using Production Code Generationhttp://www.mathworks.com/products/rtw/userstories.html?file=11240&title=Wartsila Accelerates Engine Control Development Using Production Code Generationhttp://www.mathworks.com/industries/aerospace/aerodef/proceedings/Thales-SoftwareDevelopmentAdvantagesfromReal-TimeWorkshopEmbeddedCoder.pdfhttp://www.mathworks.com/industries/aerospace/aerodef/proceedings/Thales-SoftwareDevelopmentAdvantagesfromReal-TimeWorkshopEmbeddedCoder.pdfhttp://www.mathworks.com/aerospace-defense/aerodef_conf06/pdfs/madc_2006_12_robb_lm.pdfhttp://www.mathworks.com/aerospace-defense/aerodef_conf06/pdfs/madc_2006_12_robb_lm.pdf

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代码自动生成基本流程

模型被充分测试验证以后：

• 运行Model Advisor

• 配置代码生成选项

• 生成代码

• 查看代码报告

• 代码测试

11

示例- 简单滤波器算法的代码生成

12

示例- 代码生成报告

Hyperlink between

code and model.

Hyperlink within

C code files.

13

示例- 可配置的代码生成

14

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

15

默认入口函数原型

_initialize()

– initialize signals, states and parameters

prior to first time step

_step()

– execute one time step

_terminate()

– Optional. Cleanup after last simulation

step.

16

可配置入口函数原型

17

子系统生成单独函数

Virtual

Atomic

18

被多次引用的子系统代码重用

19

参数化调用被引用模型

20

代码生成文件控制

21

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

22

Simulink里的数据Data in Simulink

Signal Parameter StateData characteristics

Memory size Storage class

External Internal

Local Global

Reusability Format

exportability

Float Fixed-point

Built-in

Integer

Precision Word size

Signed/unsigned

Word size

Signed/unsigned

Scaling

Data typeOrganization

Scalar Array Bus

23

定义数据类型

24

定义存储类型

model_private.h

model.c

25

算法模型与数据保持独立

Name

DescriptionValue

Storage classData type

Rest of model (algorithm, system dynamics, etc.)

26

定义数据对象 关联模型数据

Simulink Data Objects

– which specify characteristics

– data type, dimensions…

Signals

States

parameters

Data Algorithm

Source

of data

(M-files or

MAT-files)

27

自定义信号的存储类型

Create a signal data object.

Use the object name to label a signal in the model.

Indicate the signal must resolve to a signal data object.

28

自定义参数的存储类型

Create a parameter data object.

Use the parameter as a block parameter in the model.

Enable “Inline parameters” in the model’s configuration

parameters.

29

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

30

代码生成统计报告

31

移除不需要的代码或数据支持

Removing initialization code (Optimization pane)

Removing termination code (Interface pane)

Removing data support (Interface pane)

Disabling MAT-File Logging (Interface pane)

Conditional Input Branch Execution (Optimization pane)

No termination

function

32

优化数据存储结构

Signal Storage Reuse (Signals and Parameters pane)

Enabling Local Block Outputs (Signals and Parameters pane)

Reusing Block Outputs (Signals and Parameters pane)

Expression Folding (Signals and Parameters pane)

Reusing Global Variables (Signals and Parameters pane)

Inlining Parameters (Signals and Parameters pane)

Block Reduction (Optimization pane)

Boolean Logic (Optimization pane)

33

代码优化工具

34

目录

代码生成概述

代码结构控制

模型数据管理

代码生成的优化

代码生成相关

35

其它话题

Scheduler

Multi-rate Multi-tasking

Optimizing Code

Customer Code Integration

Customer Storage Class

Target Language Compiler

AUTOSAR Support

……

Learn more from MathWorks Training Service

- Embedded Coder for Production Code Generation (3 days)

Embedded Coder生成产品代码 - 详细课程大纲 - MathWorks 中国.htm

36

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