Embedded Coder

Getting Started Guide

R2016a

How to Contact MathWorks

Latest news:

www.mathworks.com

Sales and services:

www.mathworks.com/sales_and_services

User community:

www.mathworks.com/matlabcentral

Technical support:

www.mathworks.com/support/contact_us

Phone:

508-647-7000

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA 01760-2098
Embedded Coder Getting Started Guide
COPYRIGHT 20112016 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
or copied only under the terms of the license agreement. No part of this manual may be photocopied or
reproduced in any form without prior written consent from The MathWorks, Inc.
FEDERAL ACQUISITION: This provision applies to all acquisitions of the Program and Documentation
by, for, or through the federal government of the United States. By accepting delivery of the Program
or Documentation, the government hereby agrees that this software or documentation qualifies as
commercial computer software or commercial computer software documentation as such terms are used
or defined in FAR 12.212, DFARS Part 227.72, and DFARS 252.227-7014. Accordingly, the terms and
conditions of this Agreement and only those rights specified in this Agreement, shall pertain to and
govern the use, modification, reproduction, release, performance, display, and disclosure of the Program
and Documentation by the federal government (or other entity acquiring for or through the federal
government) and shall supersede any conflicting contractual terms or conditions. If this License fails
to meet the government's needs or is inconsistent in any respect with federal procurement law, the
government agrees to return the Program and Documentation, unused, to The MathWorks, Inc.

Trademarks

MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See
www.mathworks.com/trademarks for a list of additional trademarks. Other product or brand
names may be trademarks or registered trademarks of their respective holders.
Patents

MathWorks products are protected by one or more U.S. patents. Please see
www.mathworks.com/patents for more information.

Revision History

April 2011
September 2011
March 2012
September 2012
March 2013
September 2013
March 2014
October 2014
March 2015
September 2015
October 2015

Online only
Online only
Online only
Online only
Online only
Online only
Online only
Online only
Online only
Online only
Online only

March 2016

Online only

New for Version 6.0 (Release 2011a)

Revised for Version 6.1 (Release 2011b)
Revised for Version 6.2 (Release 2012a)
Revised for Version 6.3 (Release 2012b)
Revised for Version 6.4 (Release 2013a)
Revised for Version 6.5 (Release 2013b)
Revised for Version 6.6 (Release 2014a)
Revised for Version 6.7 (Release 2014b)
Revised for Version 6.8 (Release 2015a)
Revised for Version 6.9 (Release 2015b)
Rereleased for Version 6.8.1 (Release
2015aSP1)
Revised for Version 6.10 (R2016a)

Check Bug Reports for Issues and Fixes

Software is inherently complex and is not free of errors. The output of a code generator
might contain bugs, some of which are not detected by a compiler. MathWorks
reports critical known bugs brought to its attention on its Bug Report system at
www.mathworks.com/support/bugreports/. Use the Saved Searches and Watched Bugs
tool with the search phrase "Incorrect Code Generation" to obtain a report of known bugs
that produce code that might compile and execute, but still produce wrong answers.
The bug reports are an integral part of the documentation for each release. Examine
periodically all bug reports for a release, as such reports may identify inconsistencies
between the actual behavior of a release you are using and the behavior described in this
documentation.
In addition to reviewing bug reports, you should implement a verification and validation
strategy to identify potential bugs in your design, code, and tools.

Contents

Product Overview
Embedded Coder Product Description . . . . . . . . . . . . . . . . . .
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2
1-2

Code Generation Technology . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3

Code Generation Workflows with Embedded Coder . . . . . . .

Code Generation from MATLAB Code . . . . . . . . . . . . . . . . . .
Code Generation from Simulink Models . . . . . . . . . . . . . . . .

1-4
1-5
1-6

Validation and Verification for System Development . . . . . .

V-Model for System Development . . . . . . . . . . . . . . . . . . . . .
Types of Simulation and Prototyping in the V-Model . . . . . .
Types of In-the-Loop Testing in the V-Model . . . . . . . . . . . .
Mapping of Code Generation Goals to the V-Model . . . . . . .

1-8
1-8
1-10
1-11
1-12

Target Environments and Applications . . . . . . . . . . . . . . . .

About Target Environments . . . . . . . . . . . . . . . . . . . . . . . .
Types of Target Environments . . . . . . . . . . . . . . . . . . . . . .
Applications of Supported Target Environments . . . . . . . . .

1-29
1-29
1-29
1-31

MATLAB Tutorials
Generate C Code from MATLAB Code . . . . . . . . . . . . . . . . . .
About MATLAB Coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Getting Started Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . .
Embedded Coder Capabilities for Code Generation from
MATLAB Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2
2-2
2-2
2-3

vii

viii

Contents

Controlling C Code Style . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About This Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copy File to a Local Working Folder . . . . . . . . . . . . . . . . . .
Open the MATLAB Coder App . . . . . . . . . . . . . . . . . . . . . .
Specify Source Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Define Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Check for Run-Time Issues . . . . . . . . . . . . . . . . . . . . . . . . .
Configure Build Parameters . . . . . . . . . . . . . . . . . . . . . . . .
Generate C Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
View the Generated C Code . . . . . . . . . . . . . . . . . . . . . . . .
Key Points to Remember . . . . . . . . . . . . . . . . . . . . . . . . . . .
Learn More . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-9
2-9
2-10
2-10
2-10
2-11
2-11
2-12
2-12
2-12
2-13
2-13

Tracing Between Generated C Code and MATLAB Code . .

About This Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copying Files Locally . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Build Parameters . . . . . . . . . . . . . . . . . . . . . . .
Generating the C Code . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Viewing the Generated C Code . . . . . . . . . . . . . . . . . . . . . .
Tracing Back to the Source MATLAB Code . . . . . . . . . . . . .
Key Points to Remember . . . . . . . . . . . . . . . . . . . . . . . . . . .
Learn More . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-14
2-14
2-15
2-15
2-16
2-16
2-17
2-17
2-17

Simulink Code Generation Tutorials

Generate C Code from Simulink Models . . . . . . . . . . . . . . . .
Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example Models in Tutorials . . . . . . . . . . . . . . . . . . . . . . . .

3-2
3-2
3-2

Configure a Model for Code Generation . . . . . . . . . . . . . . . . .

Solver for Code Generation . . . . . . . . . . . . . . . . . . . . . . . . . .
Code Generation Target . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Check Model Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6
3-6
3-7
3-8

Generate and Analyze C Code . . . . . . . . . . . . . . . . . . . . . . . .

Generate Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analyze the Generated Code . . . . . . . . . . . . . . . . . . . . . . . .
Trace Between Code and Model . . . . . . . . . . . . . . . . . . . . .

3-11
3-11
3-13
3-19

Customize Code Appearance . . . . . . . . . . . . . . . . . . . . . . . . .

Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Code Style . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-22
3-22
3-23
3-25

Customize Function Interface and File Packaging . . . . . . .

Model Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Subsystem Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Customize File Packaging . . . . . . . . . . . . . . . . . . . . . . . . . .

3-27
3-27
3-30
3-31

Define Data in the Generated Code . . . . . . . . . . . . . . . . . . .

Control Placement of Data in Generated Files . . . . . . . . . . .
Signal Representation in the Generated Code . . . . . . . . . . .
Parameter Representation in the Generated Code . . . . . . . .
Save Data Objects in Data Dictionary . . . . . . . . . . . . . . . . .

3-33
3-33
3-34
3-38
3-39

Deploy and Verify Executable Program . . . . . . . . . . . . . . . .

Test Harness Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simulate in Normal Mode . . . . . . . . . . . . . . . . . . . . . . . . . .
Simulate in SIL Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compare Simulation Results . . . . . . . . . . . . . . . . . . . . . . . .
Improve Code Performance . . . . . . . . . . . . . . . . . . . . . . . . .
More Information About Code Generation in Model-Based
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-41
3-41
3-42
3-44
3-44
3-45

Embedded Coder Documentation . . . . . . . . . . . . . . . . . . . . .

3-48

3-46

Installing and Using IDE

Installing Eclipse IDE and Cygwin Debugger . . . . . . . . . . . .
Installing the Eclipse IDE . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Cygwin Debugger . . . . . . . . . . . . . . . . . . . . . .

A-2
A-2
A-3

Integrating and Testing Code with Eclipse IDE . . . . . . . . . .

About Eclipse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Define a New C Project . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configure the Debugger . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start the Debugger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Cygwin Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-4
A-4
A-4
A-5
A-6
A-6

ix

Debugger Actions and Commands . . . . . . . . . . . . . . . . . . . .

Contents

A-7

1
Product Overview
Embedded Coder Product Description on page 1-2
Code Generation Technology on page 1-3
Code Generation Workflows with Embedded Coder on page 1-4
Validation and Verification for System Development on page 1-8
Target Environments and Applications on page 1-29

Product Overview

Embedded Coder Product Description

Generate C and C++ code optimized for embedded systems
Embedded Coder generates readable, compact, and fast C and C++ code for use on
embedded processors, on-target rapid prototyping boards, and microprocessors used in
mass production. Embedded Coder enables additional MATLAB Coder and Simulink
Coder configuration options and advanced optimizations for fine-grain control of the
generated codes functions, files, and data. These optimizations improve code efficiency
and facilitate integration with legacy code, data types, and calibration parameters used
in production. You can incorporate a third-party development environment into the build
process to produce an executable for turnkey deployment on your embedded system.
Embedded Coder offers built-in support for AUTOSAR and ASAP2 software standards. It
also provides traceability reports, code interface documentation, and automated software
verification. Support for industry standards is available through IEC Certification Kit
(for ISO 26262 and IEC 61508) and DO Qualification Kit (for DO-178).
Learn more about MathWorks support for certification in automotive, aerospace, and
industrial automation.

Key Features
Optimization and code configuration options that extend MATLAB Coder and
Simulink Coder
Storage class, type, and alias definition using Simulink data dictionary capabilities
Processor-specific code optimization
Multirate, multitask, and multicore code execution with or without an RTOS
Code verification, including SIL and PIL testing, custom comments, and code reports
with tracing of models to and from code and requirements
Integration with Texas Instruments Code Composer Studio, Analog Devices
VisualDSP++, and other third-party embedded development environments
Standards support, including ASAP2, AUTOSAR, DO-178, IEC 61508, ISO 26262,
and MISRA-C

1-2

Code Generation Technology

Code Generation Technology

MathWorks code generation technology generates C or C++ code and executables for
algorithms. You can write algorithms programmatically with MATLAB or graphically in
the Simulink environment. You can generate code for MATLAB functions and Simulink
blocks that are useful for real-time or embedded applications. The generated source code
and executables for floating-point algorithms match the functional behavior of MATLAB
code execution and Simulink simulations to a high degree of fidelity. Using the FixedPoint Designer product, you can generate fixed-point code that provides a bit-wise match
to model simulation results. Such broad support and high degree of accuracy are possible
because code generation is tightly integrated with the MATLAB and Simulink execution
and simulation engines. The built-in accelerated simulation modes in Simulink use code
generation technology.
Code generation technology and related products provide tooling that you can apply
to the V-model for system development. The V-model is a representation of system
development that highlights verification and validation steps in the development process.
For more information, see Validation and Verification for System Development on page
1-8.
To learn model design patterns that include Simulink blocks, Stateflow charts, and
MATLAB functions, and map to commonly used C constructs, see Modeling Patterns for
C Code in the Embedded Coder documentation.

1-3

Product Overview

Code Generation Workflows with Embedded Coder

The Embedded Coder product extends the MATLAB Coder and Simulink Coder products
with key features that you can use for embedded software development. Using the
Embedded Coder product, you can generate code that has the clarity and efficiency of
professional handwritten code. For example, you can:
Generate code that is compact and fast, which is essential for real-time simulators,
on-target rapid prototyping boards, microprocessors used in mass production, and
embedded systems.
Customize the appearance of the generated code.
Optimize generated code for a specific target environment.
Integrate existing applications, functions, and data.
Enable tracing, reporting, and testing options that facilitate code verification
activities.
Embedded Coder supports two workflows for designing, implementing, and verifying
generated C or C++ code. The following figure shows the design and deployment
environment options.

1-4

Code Generation Workflows with Embedded Coder

Although not shown in this figure, other products that support code generation, such as
Stateflow software, are available.
To develop algorithms with MATLAB code for code generation, see Code Generation
from MATLAB Code on page 1-5.
To implement algorithms as Simulink blocks and Stateflow charts in a Simulink model,
and generate C or C++ code, see Code Generation from Simulink Models on page
1-6.

Code Generation from MATLAB Code

The code generation from MATLAB code workflow with Embedded Coder requires the
following products:
1-5

Product Overview

MATLAB
MATLAB Coder
Embedded Coder
MATLAB Coder supports a subset of core MATLAB language features, including
program control constructs, functions, and matrix operations. To generate C or C+
+ code, you can use MATLAB Coder projects or enter the function codegen in the
MATLAB Command Window. Embedded Coder provides additional options and advanced
optimizations for fine-grain control of the generated codes functions, files, and data.
For more information about these options and optimizations , see Embedded Coder
Capabilities for Code Generation from MATLAB Code on page 2-3.
For more information about generating code from MATLAB code, see MATLAB Code for
Code Generation Workflow Overview in the MATLAB Coder documentation.
To get started generating code from MATLAB code using Embedded Coder, see
Generate C Code from MATLAB Code on page 2-2.

Code Generation from Simulink Models

The code generation from Simulink models workflow with Embedded Coder requires the
following products:
MATLAB
MATLAB Coder
Simulink
Simulink Coder
Embedded Coder
You can implement algorithms as Simulink blocks and Stateflow charts in a Simulink
model. To generate C or C++ code from a Simulink model, Embedded Coder provides
additional features for implementing, configuring, and verifying your model for code
generation.
If you have algorithms written in MATLAB code, you can include the MATLAB code in a
Simulink model or subsystem by using the MATLAB Function block. When you generate
C or C++ code for a Simulink model, the MATLAB code in the MATLAB Function block is
also generated into C or C++ code and included in the generated source code.
1-6

Code Generation Workflows with Embedded Coder

To get started generating code from Simulink models using Embedded Coder, see
Generate C Code from Simulink Models on page 3-2.
To learn how to model and generate code for commonly used C constructs using Simulink
blocks, Stateflow charts, and MATLAB functions, see Modeling Patterns for C Code.

1-7

Product Overview

Validation and Verification for System Development

An approach to validating and verifying system development is the V-model.
In this section...
V-Model for System Development on page 1-8
Types of Simulation and Prototyping in the V-Model on page 1-10
Types of In-the-Loop Testing in the V-Model on page 1-11
Mapping of Code Generation Goals to the V-Model on page 1-12

V-Model for System Development

The V-model is a representation of system development that highlights verification and
validation steps in the system development process. As the following figure shows, the
left side of the V identifies steps that lead to code generation, including requirements
analysis, system specification, detailed software design, and coding. The right side of
the V focuses on the verification and validation of steps cited on the left side, including
software integration and system integration.

1-8

Validation and Verification for System Development

Verification and validation

Simulation

Hardware-in-the-loop
(HIL) testing

Rapid simulation

System Integration
and Calibration

System Specification

Processor-in-the-loop
(PIL) testing

System simulation (export)

Rapid prototyping
Software Detailed
Design

Software Integration

On-target rapid prototyping

Software-in-the-loop
(SIL) testing

Coding
Production code generation
Model encryption (export)
Depending on your application and its role in the process, you might focus on one or more
of the steps called out in the V-model or repeat steps at several stages of the V-model.
Code generation technology and related products provide tooling that you can apply to
the V-model for system development. For more information about how you can apply
MathWorks code generation technology and related products provide tooling to the Vmodel process, see:
Types of Simulation and Prototyping in the V-Model on page 1-10
Types of In-the-Loop Testing in the V-Model on page 1-11
Mapping of Code Generation Goals to the V-Model on page 1-12

1-9

Product Overview

Types of Simulation and Prototyping in the V-Model

The following table compares the types of simulation and prototyping identified on the
left side of the V-model diagram.
Host-Based
Simulation

Standalone Rapid
Simulations

Rapid Prototyping

On-Target Rapid
Prototyping

Purpose

Test and validate

functionality of
concept model

Refine, test,
and validate
functionality of
concept model in
nonreal time

Test new ideas

and research

Refine and calibrate

designs during
development process

Execution
hardware

Host computer

Host computer

PC or nontarget
hardware

Embedded
computing unit
(ECU) or nearproduction hardware

Code
efficiency
and I/O
latency

Not applicable

Not applicable

Less emphasis on More emphasis on

code efficiency and code efficiency and I/
I/O latency
O latency

Ease of use
and cost

Can simulate
component
(algorithm or
controller) and
environment (or
plant)

Easy to simulate
models of hybrid
dynamic systems
that include
components and
environment models

Might require
custom real-time
simulators and
hardware

Normal mode
simulation in
Simulink enables
you to access,
display, and
tune data during
verification

Ideal for batch

or Monte Carlo
simulations

1-10

Standalone
executable runs
outside of MATLAB
and Simulink
environments

Can repeat
simulations with
varying data sets,
interactively or
programmatically

Might be done
with inexpensive
off-the-shelf PC
hardware and I/O
cards

Might use existing

hardware, thus less
expensive and more
convenient

Validation and Verification for System Development

Host-Based
Simulation
Can accelerate
Simulink
simulations with
Accelerated and
Rapid Accelerated
modes

Standalone Rapid
Rapid Prototyping
Simulations
with scripts, without
rebuilding the model

On-Target Rapid
Prototyping

Can connect to
Simulink to monitor
signals and tune
parameters

Types of In-the-Loop Testing in the V-Model

The following table compares the types of in-the-loop testing for verification and
validation identified on the right side of the V-model diagram.
SIL Testing

PIL Testing on
PIL Testing on
Embedded Hardware Instruction Set
Simulator

HIL Testing

Purpose

Verify component
source code

Verify component
object code

Verify component
object code

Verify system
functionality

Fidelity and
accuracy

Two options:

Same object code

Same object code

Same source
code as target,
but might have
numerical
differences

Bit accurate for

fixed-point math

Bit accurate for

fixed-point math

Same executable
code

Changes source
code to emulate
word sizes, but is
bit accurate for
fixed-point math

Bit accurate for

fixed-point math

Cycle accurate
Might not be cycle
because code runs on accurate
Cycle accurate
hardware
Use real and
emulated system I/O

Execution
platforms

Host

Target

Host

Ease of use
and cost

Desktop
convenience

Executes on desk or Desktop

test bench
convenience

Target
Executes on test
bench or in lab
1-11

Product Overview

SIL Testing

PIL Testing on
PIL Testing on
Embedded Hardware Instruction Set
Simulator
Executes only in
Uses hardware
Executes only on
Simulink
process board and
host computer
cables
with Simulink
Reduced hardware
and integrated
cost
development
environment (IDE)

HIL Testing
Uses hardware
processor, embedded
computer unit
(ECU), I/O devices,
and cables

Reduced hardware
cost
Real-time
capability

Not real time

Not real time

(between samples)

Not real time

Hard real time
(between samples)

Mapping of Code Generation Goals to the V-Model

The following tables list goals that you might have, as you apply code generation
technology, and where to find guidance on how to meet those goals. Each table focuses on
goals that pertain to a step of the V-model for system development.
Documenting and Validating Requirements
Developing a Model Executable Specification
Developing a Detailed Software Design
Generating the Application Code
Integrating and Verifying Software
Integrating, Verifying, and Calibrating System Components
Documenting and Validating Requirements
Goals

Related Product Information

Examples

Capture requirements in
a document, spreadsheet,
data base, or requirements
management tool

Simulink Report Generator

1-12

Third-party vendor tools such as

Microsoft Word, Microsoft Excel,
raw HTML, or IBM Rational
DOORS

Validation and Verification for System Development

Goals

Related Product Information

Examples

Associate requirements
documents with objects in
concept models

Requirements Traceability
Simulink Verification and
Validation

slvnvdemo_fuelsys_docreq

Generate a report on
Bidirectional tracing in Microsoft
requirements associated with a Word, Microsoft Excel, HTML, and
model
IBM Rational DOORS
Include requirements links in
generated code

Review of Requirements Links

Simulink Verification and
Validation

rtwdemo_requirements

Trace model blocks and

subsystems to generated code
and vice versa

Code Tracing Embedded

Coder

rtwdemo_hyperlinks

Verify, refine, and test concept

model in non real time on a
host system

Model Architecture and Design

Simulink Coder

Air-Fuel Ratio Control

System with Stateflow
Charts

Model Architecture and Design

Embedded Coder
Simulation Simulink
Acceleration Simulink

Run standalone rapid

simulations
Run batch or Monte-Carlo
simulations
Repeat simulations with
varying data sets, interactively
or programmatically with
scripts, without rebuilding the
model

Accelerate, Refine, and Test

Hybrid Dynamic System on Host
Computer by Using RSim Target
Set Up and Use Host/Target
Communication Channel

Run Rapid Simulations Over

Range of Parameter Values
Run Batch Simulations
Without Recompiling
Generated Code
Use MAT-Files to Feed Data
to Inport Blocks for Rapid
Simulations

Tune parameters and monitor

signals interactively

1-13

Product Overview

Goals
Simulate models for hybrid
dynamic systems that
include components and an
environment or plant that
requires variable-step solvers
and zero-crossing detection

Related Product Information

Examples

Distribute simulation runs

across multiple computers

Simulink Test

MATLAB Distributed Computing

Server
Parallel Computing Toolbox

1-14

Validation and Verification for System Development

Developing a Model Executable Specification

Goals

Related Product Information

Examples

Produce design artifacts for

algorithms that you develop in
MATLAB code for reviews and
archiving

MATLAB Report Generator

Produce design artifacts from

System Design Description rtwdemo_codegenrpt
Simulink and Stateflow models Simulink Report Generator
for reviews and archiving
Add one or more components
to another environment for
system simulation

Deploy Algorithm Model for

Real-Time Rapid Prototyping

Absolute and Elapsed Time

Computation

rtwdemos, select Multirate

Support

Refine a component model

Refine an integrated system
model
Verify functionality of a model
in nonreal time
Test a concept model
Schedule generated code

Time-Based Scheduling and

Code Generation
Asynchronous Events
Specify function boundaries of
systems

Subsystems

rtwdemo_atomic
rtwdemo_ssreuse
rtwdemo_filepart
rtwdemo_exporting_functions

Specify components and

boundaries for design and
incremental code generation

Component-Based Modeling
Simulink Coder

rtwdemo_mdlreftop

Component-Based Modeling
Embedded Coder
1-15

Product Overview

Goals

Related Product Information

Examples

Specify function interfaces

so that external software can
compile, build, and invoke the
generated code

Function and Class Interfaces rtwdemo_fcnprotoctrl

Simulink Coder
rtwdemo_cppclass

Manage data packaging in

generated code for integrating
and packaging data

File Packaging Simulink

Coder

Generate and control the

format of comments and
identifiers in generated code

Add Custom Comments to

rtwdemo_comments
Generated Code Embedded rtwdemo_symbols
Coder

Function and Class Interfaces

Embedded Coder
rtwdemos, select Function,
File and Data Packaging

File Packaging Embedded

Coder

Customize Generated
Identifier Naming Rules
Embedded Coder
Create a zip file that contains
generated code files, static
files, and dependent data to
build generated code in an
environment other than your
host computer

Relocate Code to Another

Development Environment
Simulink Coder

rtwdemo_buildinfo

Export models for validation

in a system simulator using
shared libraries

Package Generated Code as

Shared Object Libraries
Embedded Coder

rtwdemo_shrlib

Refine component and

environment model designs
by rapidly iterating between
algorithm design and
prototyping

Deployment Simulink
Coder

rtwdemo_profile

Verify whether a component

can adequately control a
physical system in non-real
time

1-16

Deployment Embedded
Coder

Validation and Verification for System Development

Goals
Evaluate system performance
before laying out hardware,
coding production software, or
committing to a fixed design

Related Product Information

Examples

Test hardware
Generate code for rapid
prototyping

Function and Class Interfaces rtwdemo_counter

rtwdemo_async
Entry-Point Functions and
Scheduling
Generate Modular Function
Code Embedded Coder

Generate code for rapid

prototyping in hard real time,
using PCs

Simulink Real-Time

Simulink Real-Time Examples

Generate code for rapid

prototyping in soft real time,
using PCs

Simulink Desktop Real-Time

sldrtex_vdp (and others)

Developing a Detailed Software Design

Goals

Related Product Information

Examples

Refine a model design for

representation and storage of
data in generated code

Data Representation
Simulink Coder

Data Representation
Embedded Coder

Select code generation features Target Environment

for deployment
Configuration Simulink
Coder
Target Environment
Configuration Embedded
Coder

rtwdemo_counter
rtwdemo_async
Sample Workflows in the
Embedded Coder documentation

Sharing Utility Code

Embedded Coder
1-17

Product Overview

Goals

Related Product Information

AUTOSAR Code Generation
Embedded Coder

Examples

Specify target hardware

settings

Target Environment
Configuration Simulink
Coder

rtwdemo_targetsettings

Target Environment
Configuration Embedded
Coder
Design model variants

Define, Configure, and

Activate Variants Simulink

Variant Systems
Embedded Coder

Specify fixed-point algorithms Data Types and Scaling

in Simulink, Stateflow, and the Fixed-Point Designer
MATLAB language subset for
Fixed-Point Code Generation
code generation
Fixed-Point Designer

rtwdemo_fixpt1
Air-Fuel Ratio Control System
with Fixed-Point Data

Convert a floating-point model

or subsystem to a fixed-point
representation

Conversion Using Simulation

Data Fixed-Point Designer

fxpdemo_fpa

Iterate to obtain an optimal

fixed-point design, using
autoscaling

Data Types and Scaling

Fixed-Point Designer

Conversion Using Range

Analysis Fixed-Point
Designer

Create or rename data types

What Are User-Defined Data
specifically for your application Types? Embedded Coder

fxpdemo_feedback

rtwdemo_udt

Data Type Replacement

Embedded Coder
Control the format of identifiers Customize Generated
in generated code
Identifier Naming Rules
Embedded Coder

1-18

rtwdemo_symbols

Validation and Verification for System Development

Goals

Related Product Information

Examples

Specify how signals, tunable

parameters, block states, and
data objects are declared,
stored, and represented in
generated code

Custom Storage Classes

Embedded Coder

rtwdemo_cscpredef

Create a data dictionary for a

model

Data Definition and

Declaration Management
Embedded Coder

rtwdemo_advsc

Relocate data segments for

generated functions and data
using #pragmas for calibration
or data access

Control Data and Function

Placement in Memory by
Inserting Pragmas
Embedded Coder

rtwdemo_memsec

Assess and adjust model

Configuration Simulink
configuration parameters based Coder
on the application and an
expected run-time environment Configuration Embedded
Coder

Generate Code Using

Simulink Coder
Generate Code Using
Embedded Coder

Check a model against basic

modeling guidelines

Run Model Checks

Simulink

rtwdemo_advisor1

Add custom checks to the

Simulink Model Advisor

Customization and
Automation

slvnvdemo_mdladv

Check a model against custom

standards or guidelines

Run Model Checks

Simulink

Check a model against industry

standards and guidelines
(MathWorks Automotive
Advisory Board (MAAB), IEC
61508, IEC 62304, ISO 26262,
EN 50128 and DO-178)

Standards, Guidelines, and

Block Usage Embedded
Coder

rtwdemo_iec61508

Obtain model coverage for

structural coverage analysis
such as MC/DC

Model Coverage Analysis

Simulink Design Verifier

Prove properties and generate

test vectors for models

Simulink Design Verifier

sldvdemo_cruise_control

Model Guidelines Compliance

Simulink Verification and
Validation

1-19

Product Overview

Goals

Related Product Information

Generate reports of models and MATLAB Report Generator

software designs
MATLAB Report Generator

Examples
sldvdemo_cruise_control_verification
rtwdemo_codegenrpt

Simulink Report Generator

Simulink Report Generator
System Design Description
Simulink Report Generator
Conduct reviews of your model
and software designs with
coworkers, customers, and
suppliers who do not have
Simulink available

Model Web Views

Simulink Report Generator

Refine the concept model of

your component or system

Deployment Simulink
Coder

Test and validate the model

functionality in real time

Deployment Embedded
Coder

Test the hardware

Code Execution Profiling

Embedded Coder

slxml_sfcar

Model Comparison
Simulink Report Generator
rtwdemos, select Embedded
IDEs or Embedded Targets

Obtain real-time profiles and

code metrics for analysis and
Static Code Metrics
sizing based on your embedded Embedded Coder
processor
Assess the feasibility of the
algorithm based on integration
with the environment or plant
hardware
Generate source code for your
models, integrate the code
into your production build
environment, and run it on
existing hardware

1-20

Code Generation Simulink rtwdemo_counter

Coder
rtwdemo_fcnprotoctrl
rtwdemo_cppclass
Code Generation
rtwdemo_async
Embedded Coder
Sample Workflows in the
Embedded Coder documentation

Validation and Verification for System Development

Goals

Related Product Information

Examples

Integrate existing externally

written C or C++ code with
your model for simulation and
code generation

Block Creation Simulink

rtwdemos, select Integrating

with C Code or Integrating
with C++ Code

External Code Integration

Simulink Coder
External Code Integration
Embedded Coder

Generate code for on-target

rapid prototyping on specific
embedded microprocessors and
IDEs

Deploy Generated Embedded In rtwdemos, select one of the

System Software to Application following: Embedded IDEs or
Target Platforms Embedded Embedded Targets
Coder

Generating the Application Code

Goals

Related Product Information

Examples

Optimize generated ANSI

C code for production (for
example, disable floatingpoint code, remove termination
and error handling code, and
combine code entry points into
single functions)

Performance Simulink
Coder

rtwdemos, select
Optimizations

Optimize code for a specific

run-time environment, using
specialized function libraries

Code Replacement
Simulink Coder

Performance Embedded
Coder

Code Replacement
Embedded Coder

Optimize Generated Code

By Developing and Using
Code Replacement Libraries Simulink

Code Replacement
Customization Embedded
Coder
Control the format and style of Control Code Style
generated code
Embedded Coder

rtwdemo_parentheses

Control comments inserted into Add Custom Comments to

rtwdemo_comments
generated code
Generated Code Embedded
Coder

1-21

Product Overview

Goals

Related Product Information

Examples

Enter special instructions

or tags for postprocessing by
third-party tools or processes

Customize Post-CodeGeneration Build Processing

Simulink Coder

rtwdemo_buildinfo

Include requirements links in

generated code

Review of Requirements
rtwdemo_requirements
Links Simulink Verification
and Validation

Trace model blocks and

subsystems to generated code
and vice versa

Code Tracing Embedded

Coder

Integrate existing externally

written code with code
generated for a model

Block Creation Simulink

rtwdemo_comments
rtwdemo_hyperlinks

Standards, Guidelines, and

Block Usage Embedded
Coder
External Code Integration
Simulink Coder

rtwdemos, select Integrating

with C Code or Integrating
with C++ Code

External Code Integration

Embedded Coder
Verify generated code for
MISRA C Guidelines
MISRA Ca and other run-time Embedded Coder
violations
Polyspace Bug Finder

Polyspace Code Prover

Protect the intellectual
property of component model
design and generated code
Generate a binary file (shared
library)

Protected Model Simulink

Package Generated Code as
Shared Object Libraries
Embedded Coder

Generate a MEX-file S-function Automate S-Function

for a model or subsystem so
Generation with S-Function
that it can be shared with a
Builder Simulink Coder
third-party vendor

1-22

Validation and Verification for System Development

Goals

Related Product Information

Examples

Generate a shared library for

a model or subsystem so that
it can be shared with a thirdparty vendor

Package Generated Code as

Shared Object Libraries
Embedded Coder

Test generated production code Software-in-the-Loop (SIL)

with an environment or plant
Simulation Embedded
model to verify a conversion of Coder
the model to code

Test Generated Code Using

Software-in-the-Loop (SIL) and
Processor-in-the-Loop (PIL)
Simulation

Create an S-function wrapper

for calling your generated
source code from a model
running in Simulink

Write Wrapper S-Function and

TLC Files Simulink Coder

Set up and run SIL tests on

your host computer

Software-in-the-Loop (SIL)
Simulation Embedded
Coder

a.

Test Generated Code Using

Software-in-the-Loop (SIL) and
Processor-in-the-Loop (PIL)
Simulation

MISRA and MISRA C are registered trademarks of MISRA Ltd., held on behalf of the MISRA Consortium.

Integrating and Verifying Software

Goals

Related Product Information

Examples

Integrate existing externally

written C or C++ code with a
model for simulation and code
generation

Block Creation Simulink

rtwdemos, select Integrating

with C Code or Integrating
with C++ Code

External Code Integration

Simulink Coder
External Code Integration
Embedded Coder

Connect to data interfaces

for generated C code data
structures

Data Exchange Interfaces

Simulink Coder

Control the generation of code

interfaces so that external

Function and Class Interfaces rtwdemo_fcnprotoctrl

Embedded Coder
rtwdemo_cppclass

rtwdemo_capi
rtwdemo_asap2

Data Exchange Interfaces

Embedded Coder

1-23

Product Overview

Goals
software can compile, build,
and invoke the generated code

Related Product Information

Examples

Export virtual and function-call Export Function-Call

subsystems
Subsystems Embedded
Coder

rtwdemo_exporting_functions

Include target-specific code

Optimize Generated Code

By Developing and Using
Code Replacement Libraries Simulink

Code Replacement
Simulink Coder
Code Replacement
Embedded Coder
Code Replacement
Customization Embedded
Coder

Customize and control the build Build Process Customization

process
Simulink Coder

rtwdemo_buildinfo

Create a zip file that contains

generated code files, static
files, and dependent data to
build the generated code in an
environment other than your
host computer

rtwdemo_buildinfo

Relocate Code to Another

Development Environment
Simulink Coder

Integrate software components Target Environment

as a complete system for testing Verification Embedded
in the target environment
Coder

Generate source code for

integration with specific
production environments

Code Generation Simulink rtwdemo_async

Coder
Sample Workflows in the
Embedded Coder documentation
Code Generation
Embedded Coder

Integrate code for a specific

run-time environment, using
specialized function libraries

Code Replacement
Simulink Coder

1-24

Code Replacement
Embedded Coder

Optimize Generated Code

By Developing and Using
Code Replacement Libraries Simulink

Validation and Verification for System Development

Goals

Related Product Information

Code Replacement
Customization Embedded
Coder

Examples

Enter special instructions

or tags for postprocessing by
third-party tools or processes

Customize Post-CodeGeneration Build Processing

Simulink Coder

rtwdemo_buildinfo

Integrate existing externally

written code with code
generated for a model

Block Creation Simulink

rtwdemos, select Integrating

with C Code or Integrating
with C++ Code

External Code Integration

Simulink Coder
External Code Integration
Embedded Coder

Connect to data interfaces

for the generated C code data
structures

Data Exchange Interfaces

Simulink Coder

Schedule the generated code

Timers

rtwdemo_capi
rtwdemo_asap2

Data Exchange Interfaces

Embedded Coder
Time-Based Scheduling

rtwdemos, select Multirate

Support

Event-Based Scheduling
Verify object code files in a
target environment

Software-in-the-Loop (SIL)
Simulation Embedded
Coder

Test Generated Code Using

Software-in-the-Loop (SIL) and
Processor-in-the-Loop (PIL)
Simulation

Set up and run PIL tests on

your target system

Processor-in-the-Loop (PIL)
Simulation Embedded
Coder

Test Generated Code Using

Software-in-the-Loop (SIL) and
Processor-in-the-Loop (PIL)
Simulation
Configure Processor-in-theLoop (PIL) for a Custom Target
Create a Target
Communication Channel for

1-25

Product Overview

Goals

Related Product Information

Examples
Processor-in-the-Loop (PIL)
Simulation
See the list of supported
hardware for the Embedded
Coder product on the
MathWorks Web site, and then
find an example for the related
product of interest

1-26

Validation and Verification for System Development

Integrating, Verifying, and Calibrating System Components

Goals

Related Product Information

Examples

Integrate the software and

Deploy Algorithm Model for

its microprocessor with the

Real-Time Rapid Prototyping
hardware environment for the
final embedded system product Deploy Environment Model for
Real-Time Hardware-In-theAdd the complexity of the
Loop (HIL) Simulation
environment (or plant) under
Deploy Generated Standalone
control to the test platform
Executables To Target
Test and verify the embedded
Hardware Embedded Coder
system or control unit by using
a real-time target environment Deploy Generated Embedded
System Software to Application
Target Platforms Embedded
Coder
Generate source code for HIL
testing

Code Generation Simulink

Coder
Code Generation
Embedded Coder
Deploy Environment Model for
Real-Time Hardware-In-theLoop (HIL) Simulation

Conduct hard real-time HIL

testing using PCs

Simulink Real-Time

Simulink Real-Time Examples

Tune ECU properly for its

intended use

Data Exchange Interfaces

Simulink Coder

rtwdemo_capi
rtwdemo_asap2

Data Exchange Interfaces

Embedded Coder
Generate ASAP2 data files

Export ASAP2 File for Data

rtwdemo_asap2
Measurement and Calibration

1-27

Product Overview

Goals

Related Product Information

Examples

Generate C API data interface

files

Exchange Data Between

Generated and External Code
Using C API

rtwdemo_capi

1-28

Target Environments and Applications

Target Environments and Applications

In this section...
About Target Environments on page 1-29
Types of Target Environments on page 1-29
Applications of Supported Target Environments on page 1-31

About Target Environments

In addition to generating source code, the code generator produces make or project
files to build an executable program for a specific target environment. The generated
make or project files are optional. If you prefer, you can build an executable for the
generated source files by using an existing target build environment, such as a thirdparty integrated development environment (IDE). Applications of generated code range
from calling a few exported C or C++ functions on a host computer to generating a
complete executable program using a custom build process, for custom hardware, in
an environment completely separate from the host computer running MATLAB and
Simulink.
The code generator provides built-in system target files that generate, build, and execute
code for specific target environments. These system target files offer varying degrees
of support for interacting with the generated code to log data, tune parameters, and
experiment with or without Simulink as the external interface to your generated code.

Types of Target Environments

Before you select a system target file, identify the target environment on which you
expect to execute your generated code. The most common target environments include
environments listed in the following table.
Target Environment

Description

Host computer

The same computer that runs MATLAB and Simulink. Typically, a host
computer is a PC or UNIXa environment that uses a non-real-time operating
system, such as Microsoft Windows or Linuxb. Non-real-time (general
purpose) operating systems are nondeterministic. For example, those
operating systems might suspend code execution to run an operating system
service and then, after providing the service, continue code execution.
1-29

Product Overview

Target Environment

Description
Therefore, the executable for your generated code might run faster or slower
than the sample rates that you specified in your model.

Real-time
simulator

A different computer than the host computer. A real-time simulator can be

a PC or UNIX environment that uses a real-time operating system (RTOS),
such as:
Simulink Real-Time system
A real-time Linux system
A Versa Module Eurocard (VME) chassis with PowerPC processors
running a commercial RTOS, such as VxWorks from Wind River
Systems
The generated code runs in real time. The exact nature of execution varies
based on the particular behavior of the system hardware and RTOS.
Typically, a real-time simulator connects to a host computer for data logging,
interactive parameter tuning, and Monte Carlo batch execution studies.

Embedded
microprocessor

A computer that you eventually disconnect from a host computer and run as
a standalone computer as part of an electronics-based product. Embedded
microprocessors range in price and performance, from high-end digital signal
processors (DSPs) to process communication signals to inexpensive 8-bit
fixed-point microcontrollers in mass production (for example, electronic parts
produced in the millions of units). Embedded microprocessors can:
Use a full-featured RTOS
Be driven by basic interrupts
Use rate monotonic scheduling provided with code generation

a.
b.

UNIX is a registered trademark of The Open Group in the United States and other countries.
Linux is a registered trademark of Linus Torvalds.

A target environment can:

Have single- or multiple-core CPUs
Be a standalone computer or communicate as part of a computer network
In addition, you can deploy different parts of a Simulink model on different target
environments. For example, it is common to separate the component (algorithm or
1-30

Target Environments and Applications

controller) portion of a model from the environment (or plant). Using Simulink to model
an entire system (plant and controller) is often referred to as closed-loop simulation and
can provide many benefits, such as early verification of a component.
The following figure shows example target environments for code generated for a model.

System model

Code
generation

Code
generation

Environment model

Code
generation

Algorithm model

Host
executable

Embedded
microprocessor

Real-time
simulator

Host computer(s)

Applications of Supported Target Environments

The following table lists several ways that you can apply code generation technology in
the context of the different target environments.
Application

Description

Host Computer
Acceleration

You apply techniques to speed up the

execution of model simulation in the
context of the MATLAB and Simulink
environments. Accelerated simulations
are especially useful when run time is
long compared to the time associated
with compilation and checking whether
the target is up to date.
1-31

Product Overview

Application

Description

Rapid Simulation

You execute code generated for a model

in non-real-time on the host computer,
but outside the context of the MATLAB
and Simulink environments.

Shared Object Libraries

You integrate components into a

larger system. You provide generated
source code and related dependencies
for building a system in another
environment or in a host-based
shared library to which other code can
dynamically link.

Model Protection

You generate a protected model for

use by a third-party vendor in another
Simulink simulation environment.

Real-Time Simulator
Real-Time Rapid Prototyping

You generate, deploy, and tune code on

a real-time simulator connected to the
system hardware (for example, physical
plant or vehicle) being controlled. This
design step is crucial for validating
whether a component can control the
physical system.

Shared Object Libraries

You integrate generated source code

and dependencies for components into
a larger system that is built in another
environment. You can use shared library
files for intellectual property protection.

Hardware-in-the-Loop (HIL) Simulation

You generate code for a detailed design

that you can run in real time on an
embedded microprocessor while tuning
parameters and monitoring real-time
data. This design step allows you to
assess, interact with, and optimize
code, using embedded compilers and
hardware.

1-32

Target Environments and Applications

Application

Description

Embedded Microprocessor
Code Generation

From a model, you generate code that

is optimized for speed, memory usage,
simplicity, and possibly, compliance with
industry standards and guidelines.

Software-in-the-Loop (SIL) Simulation

You execute generated code with your

plant model within Simulink to verify
conversion of the model to code. You
might change the code to emulate target
word size behavior and verify numerical
results expected when the code runs on
an embedded microprocessor. Or, you
might use actual target word sizes and
just test production code behavior.

Processor-in-the-Loop (PIL) Simulation

You test an object code component

with a plant or environment model in
an open- or closed-loop simulation to
verify model-to-code conversion, crosscompilation, and software integration.

Hardware-in-the-loop (HIL) Simulation

You verify an embedded system or

embedded computing unit (ECU), using
a real-time target environment.

1-33

2
MATLAB Tutorials
Generate C Code from MATLAB Code on page 2-2
Controlling C Code Style on page 2-9
Tracing Between Generated C Code and MATLAB Code on page 2-14

MATLAB Tutorials

Generate C Code from MATLAB Code

In this section...
About MATLAB Coder on page 2-2
Getting Started Tutorials on page 2-2
Embedded Coder Capabilities for Code Generation from MATLAB Code on page
2-3

About MATLAB Coder

MATLAB Coder generates standalone C and C++ from MATLAB code. The generated
source code is portable and readable. MATLAB Coder supports a subset of core MATLAB
language features, including program control constructs, functions, and matrix
operations. It can generate MEX functions that let you accelerate computationally
intensive portions of MATLAB code and verify the behavior of the generated code.
When generating C and C++ code from MATLAB code, follow this workflow.
How Embedded Coder Works With MATLAB Coder
The Embedded Coder product extends the MATLAB Coder product with features that
are important for embedded software development. Using the Embedded Coder addon product, you can generate code that has the clarity and efficiency of professional
handwritten code. For example, you can:
Generate code that is compact and fast, which is essential for real-time simulators,
on-target rapid prototyping boards, microprocessors used in mass production, and
embedded systems
Customize the appearance of the generated code
Optimize the generated code for application-specific requirements
Enable tracing options that help you to verify the generated code
See Embedded Coder Capabilities for Code Generation from MATLAB Code on page
2-3.

Getting Started Tutorials

The following tutorials will help you get started with using Embedded Coder to generate
code from MATLAB code for embedded system applications.
2-2

Generate C Code from MATLAB Code

Controlling C Code Style on page 2-9

Tracing Between Generated C Code and MATLAB Code on page 2-14
Prerequisites
To complete these tutorials, you must install the following products:
MATLAB
MATLAB Coder
Embedded Coder
C compiler
For a list of supported compilers, see http://www.mathworks.com/support/
compilers/current_release/.
Before generating C code, you must set up the C compiler. See Setting Up the C or C++
Compiler in the MATLAB Coder documentation.
For instructions on installing MathWorks products, see the MATLAB installation
documentation for your platform. If you have installed MATLAB and want to see which
other MathWorks products are installed, in the Command Window, enter ver .
Setting Up Tutorial Files
The tutorial files are available in the following folder: matlabroot/help/toolbox/
ecoder/examples (open). To run the tutorials, copy these files to a local folder. Each
tutorial provides instructions about which files to copy and how to copy them.

Embedded Coder Capabilities for Code Generation from MATLAB Code

The Embedded Coder product extends the MATLAB Coder product with the following
options and optimizations for C/C++ code generation.
Goal

Project Setting

Code Configuration Object More Information

Property

Support only
purely-integer
numbers

PurelyIntegerCode

Speed
Control generation
of floating-point data
and operations

N/A

Code Appearance
2-3

MATLAB Tutorials

Goal

Project Setting

Code Configuration Object More Information

Property

Specify use of singleline or multiline

comments in the
generated code

Comment Style

CommentStyle

Specify Comment
Style for C/C++ Code

Generate traceable
MATLAB function
code that includes the help text
MATLAB function
help text in the
function banner

MATLABFcnDesc

Tracing Between
Generated C Code and
MATLAB Code on
page 2-14

Convert if-elseif-else
patterns to switchcase statements

ConvertIfToSwitch

Controlling C Code
Style on page 2-9

Convert if-elseifelse patterns

to switch-case
statements

Specify that the extern Preserve extern

PreserveExternkeyword is included
keyword in function InFcnDecls
in declarations of
declarations
generated external
functions

N/A

Specify the level of

parenthesization in
the generated code

Parentheses

ParenthesesLevel

N/A

Specify whether to
replace multiplications
by powers of two with
signed left bitwise
shifts in the generated
code

Use signed shift

left for fixed-point
operations and
multiplication by
powers of 2

EnableSignedLeftShifts
Control Signed Left
Shifts in Generated
Code

Specify whether to
allow signed right
bitwise shifts in the
generated code

Allow right shifts on EnableSignedRightShifts

N/A
signed integers

Control data type

Casting mode on the CastingMode
casts in the generated All Settings tab
code

2-4

Control Data Type

Casts in Generated
Code

Generate C Code from MATLAB Code

Goal

Project Setting

Code Configuration Object More Information

Property

Specify the indent

Indent style on the
style for the generated All Settings tab
code
Indent size on the
All Settings tab

IndentStyle
IndentSize

Specify Indent Style

for C/C++ Code

Customize generated
global variable
identifiers

Global variables

CustomSymbolStrGlobalVar

Customize Generated
Identifiers

Customize generated
global type identifiers

Global types

CustomSymbolStrType

Customize Generated
Identifiers

Customize generated
field names in global
type identifiers

Field name of global CustomSymbolStrField Customize Generated

Identifiers
types

Customize generated
local functions
identifiers

Local functions

CustomSymbolStrFcn

Customize Generated
Identifiers

Customize generated
identifiers for local
temporary variables

Local temporary
variables

CustomSymbolStrTmpVar

Customize Generated
Identifiers

Customize generated Constant macros

identifiers for constant
macros

CustomSymbolStrMacro Customize Generated

Identifiers

Customize generated EMX Array Types

identifiers for
EMX Array types
(Embeddable mxArray
types)

CustomSymbolStrEMXArray

Customize Generated
Identifiers

Customize generated
identifiers for EMX
Array (Embeddable
mxArrays) utility
functions

EMX Array Utility

Functions

CustomSymbolStrEMXArrayFcn

Customize Generated
Identifiers

Customize function
interface in the
generated code

Terminate function IncludeTerminateFcn

required

N/A

2-5

MATLAB Tutorials

Goal

Project Setting

Code Configuration Object More Information

Property

Customize file and

function banners

N/A

CodeTemplate

Generate Custom
File and Function
Banners for C/C++
Code
Code Generation
Template Files for
MATLAB

Control declarations
N/A
and definitions of
global variables in the
generated code

N/A

Storage Classes for

Code Generation
from MATLAB
Code
Control
Declarations and
Definitions of Global
Variables in Code
Generated from
MATLAB Code

Debugging
Generate a static
code metrics report
including generated
file information,
number of lines, and
memory usage

Static code metrics

Generate a code
Code replacements
replacement report
that summarizes the
replacements used
from the selected code
replacement library

2-6

GenerateCodeMetrics- Generate a Static

Code Metrics Report for
Report
MATLAB Code

GenerateCodeReplacementReport

Replace Code
Generated from
MATLAB Code
Review and Test
Code Replacements

Generate C Code from MATLAB Code

Goal

Project Setting

Highlight singleHighlight potential

precision, doubledata type issues
precision, and
expensive fixed-point
operations in the code
generation report

Code Configuration Object More Information

Property
HighlightPotentialDataTypeIssues

Highlight Potential
Data Type Issues in a
Report

Replace functions
Code replacement
and operators in the
library
generated code to meet
application-specific
code requirements

CodeReplacementLibrary

Embedded Coder offers

additional libraries and
the ability to create and
use custom code. See
Code Replacement
and Code Replacement
Customization.

Create and register

application-specific
implementations
of functions and
operators

N/A

Code Replacement
Customization

VerificationMode

Code Verification
Through Softwarein-the-Loop and
Processor-in-the-Loop
Execution

Custom Code

N/A

Verification
Verify generated code N/A
using software-in-theloop and processor-inthe-loop execution
Debug code during
software-in-the-loop
execution

Enable source-level SILDebugging

debugging for SIL
on the Debugging
pane

Debug SIL Execution

Profile execution
times during software
-in-the-loop and
processor-in-the-loop
execution

Enable entry point

execution profiling
for SIL/PIL on the
Debugging pane

Execution Time
Profiling

CodeExecutionProfiling

2-7

MATLAB Tutorials

Goal

Project Setting

Code Configuration Object More Information

Property

Verify and profile

ARM optimized code

Hardware Board on Hardware

the Hardware pane

PIL Execution with

ARM Cortex-A at
the Command Line
PIL Execution with
ARM Cortex-A by
Using the MATLAB
Coder App

2-8

Controlling C Code Style

Controlling C Code Style

In this section...
About This Tutorial on page 2-9
Copy File to a Local Working Folder on page 2-10
Open the MATLAB Coder App on page 2-10
Specify Source Files on page 2-10
Define Input Types on page 2-11
Check for Run-Time Issues on page 2-11
Configure Build Parameters on page 2-12
Generate C Code on page 2-12
View the Generated C Code on page 2-12
Key Points to Remember on page 2-13
Learn More on page 2-13

About This Tutorial

Learning Objectives
This tutorial shows you how to:
Generate code for if-elseif-else decision logic as switch-case statements.
Generate C code from your MATLAB code using the MATLAB Coder app.
Configure code generation configuration parameters in the MATLAB Coder project.
Generate a code generation report that you can use to view and debug your MATLAB
code.
Required Products
This tutorial requires the following products:
MATLAB
MATLAB Coder
C compiler
2-9

MATLAB Tutorials

For most platforms, a default compiler is supplied with MATLAB.

MATLAB Coder locates and uses a supported installed compiler. See Supported and
Compatible Compilers on the MathWorks website.
You can use mex -setup to change the default compiler. See Change Default
Compiler.
For instructions on installing MathWorks products, see the MATLAB installation
documentation for your platform. If you have installed MATLAB and want to check
which other MathWorks products are installed, at the prompt, enter ver.
Required Files
Type

Name

Description

Function code

test_code_style.m

MATLAB example that uses

if-elseif-else.

Copy File to a Local Working Folder

1

Create a local working folder, for example, c:\ecoder\work.

Change to the matlabroot\help\toolbox\ecoder\examples folder. At the

MATLAB command prompt, enter:
cd(fullfile(docroot, 'toolbox', 'ecoder', 'examples'))

Copy the file test_code_style.m to your local working folder.

Open the MATLAB Coder App

On the MATLAB Toolstrip Apps tab, under Code Generation, click the MATLAB
Coder app icon.
The app opens the Select Source Files page.

Specify Source Files

1

2-10

On the Select Source Files page, type or select the name of the entry-point
function test_code_style.m.

Controlling C Code Style

In the Project location field, change the project name to code_style.prj.

Click Next to go to the Define Input Types step. The app analyzes the function for
coding issues and code generation readiness. If the app identifies issues, it opens the
Review Code Generation Readiness page where you can review and fix issues.
In this example, because the app does not detect issues, it opens the Define Input
Types page.

Define Input Types

Because C uses static typing, at compile time, MATLAB Coder must determine the
properties of all variables in the MATLAB files. Therefore, you must specify the
properties of all function inputs. To define the properties of the input x:
1

Click Let me enter input or global types directly.

Click the field to the right of x.

From the list of options, select int16. Then, select scalar.

Click Next to go to the Check for Run-Time Issues step.

Note: The Convert if-elseif-else patterns to switch-case statements

optimization works only for integer and enumerated type inputs.

Check for Run-Time Issues

The Check for Run-Time Issues step generates a MEX file from your entry-point
functions, runs the MEX function, and reports issues. This step is optional. However,
it is a best practice to perform this step. Using this step, you can detect and fix runtime errors that are harder to diagnose in the generated C code. By default, the MEX
function includes memory integrity checks. These checks perform array bounds and
dimension checking. The checks detect violations of memory integrity in code generated
for MATLAB functions. For more information, see Control Run-Time Checks.
1

To open the Check for Run-Time Issues dialog box, click the Check for Issues
arrow

In the Check for Run-Time Issues dialog box, enter code that calls
test_code_style with an example input. For this example, enter
test_code_style(int16(4)).
2-11

MATLAB Tutorials

Click Check for Issues.

The app generates a MEX function. It runs the MEX function with the example
input. If the app detects issues during the MEX function generation or execution,
it provides warning and error messages. Click these messages to navigate to the
problematic code and fix the issue. In this example, the app does not detect issues.

Click Next to go to the Generate Code step.

Configure Build Parameters

1

To open the Generate dialog box, click the Generate arrow

Set the Build type to Static Library (.lib).

Click More settings.

On the Code Appearance tab, select the Convert if-elseif-else patterns to

switch-case statements check box.

On the Debugging tab, verify that Always create a code generation report is
selected, and then click Close.

Generate C Code
Click Generate.
When the code generation is complete, MATLAB Coder generates a C static library,
test_code_style.lib, and C code in the /codegen/lib/test_code_style
subfolder. Because you selected report generation, MATLAB Coder provides a link to the
report.

View the Generated C Code

MATLAB Coder generates C code in the file test_code_style.c.
To view the generated code:
1

On the Generate Code page, under Output Files, click test_code_style.c.

In the code window, you can see that in the C code, the switch-case statement
replaces the if-elseif-else pattern.
switch (x) {

2-12

Controlling C Code Style

case 1:
y = 1.0;
break;
case 2:
y = 2.0;
break;
case 3:
y = 3.0;
break;
default:
y = 4.0;
break;
}

Click Next to open the Finish Workflow page.

The Finish Workflow page indicates that code generation succeeded. It provides a
project summary and links to the generated output.

Key Points to Remember

To check for run-time issues before code generation, perform the Check for RunTime Issues step.
To access build configuration settings, on the Generate Code page, open the
Generate dialog box, and then click More Settings.

Learn More
To

See

Learn how to generate C/C++ code using the

MATLAB Coder app.

C Code Generation Using the MATLAB Coder

App

Learn how to generate C/C++ code using

MATLAB code using the command-line
interface.

C Code Generation at the Command Line

2-13

MATLAB Tutorials

Tracing Between Generated C Code and MATLAB Code

In this section...
About This Tutorial on page 2-14
Copying Files Locally on page 2-15
Configuring Build Parameters on page 2-15
Generating the C Code on page 2-16
Viewing the Generated C Code on page 2-16
Tracing Back to the Source MATLAB Code on page 2-17
Key Points to Remember on page 2-17
Learn More on page 2-17

About This Tutorial

Learning Objectives
This tutorial shows you how to:
Generate code that includes the MATLAB source code as comments.
Include the function help text in the function header of the generated code.
Use the code generation report to trace from the generated code to the source code.
Prerequisites
To complete this tutorial, install the required products and set up your C compiler as
described in Prerequisites on page 2-3
Required File
Type

Name

Description

Function code

polar2cartesian.m

Simple MATLAB function

that contains a comment

To run the tutorial, copy this file to a local folder. For instructions, see Copying Files
Locally on page 2-15.
2-14

Tracing Between Generated C Code and MATLAB Code

Copying Files Locally

Copy the tutorial file to a local working folder.
1

Create a local working folder, for example, c:\ecoder\work.

Change to the matlabroot\help\toolbox\ecoder\examples folder. At the

MATLAB command line, enter:
cd(fullfile(docroot, 'toolbox', 'ecoder', 'examples'))

Copy the polar2cartesian.m file to your local working folder.

Your work folder now contains the file you need to complete this tutorial.

Set your MATLAB current folder to the work folder that contains the file for this
tutorial. At the MATLAB command line, enter:
cd work

where work is the full path of the work folder containing your files.
Contents of polar2cartesian.m
function [x y] = polar2cartesian(r,theta)
%#codegen
% Convert polar to Cartesian
x = r * cos(theta);
y = r * sin(theta);

Configuring Build Parameters

1

Create a coder.EmbeddedCodeConfig code generation configuration object.

cfg = coder.config('lib', 'ecoder', true);

Enable the MATLABSourceCode option to include MATLAB source code as

comments in the generated code and the function signature in the function banner.
cfg.MATLABSourceComments = true;

Enable the MATLBFcnDesc option to include the function help text in the function
banner.
cfg.MATLABFcnDesc = true;

2-15

MATLAB Tutorials

Generating the C Code

Call the codegen function to generate C code, with the following options:
-config to pass in the code generation configuration object cfg.
-report to create a code generation report.
-args to specify the class, size, and complexity of the input parameters.
codegen -config cfg

-report polar2cartesian -args {0, 0}

codegen generates a C static library, polar2cartesian.lib, and C code in the /

codegen/lib/polar2cartesian subfolder. Because you selected report generation,
codegen provides a link to the report.

Viewing the Generated C Code

codegen generates C code in the file polar2cartesian.c.
To view the generated code:
1

Click the View report link to open the code generation report.

In the report, click the C code tab.

On this tab, click the polar2cartesian.c link.

Examine the generated code. The function help text Convert polar to
Cartesian appears in the function header. The source code appears as comments in
the generated code.
/*
* function [x y] = polar2cartesian(r,theta)
* Convert polar to Cartesian
*/
void straightline(real_T r, real_T theta, ...
real_T *x, real_T *y)
{
/* 'polar2cartesian:4' x = r * cos(theta); */
*x = r * cos(theta);
/* 'polar2cartesian:5' y = r * sin(theta); */
*y = r * sin(theta);
}

2-16

Tracing Between Generated C Code and MATLAB Code

Tracing Back to the Source MATLAB Code

To trace back to the source code, click a traceability tag.
For example, to view the MATLAB code for the C code, x = r * cos(theta);, click
the 'polar2cartesian:4' traceability tag.
The source code file polar2cartesian.m opens in the MATLAB editor with line 4
highlighted.

Key Points to Remember

Create a coder.EmbeddedCodeConfig configuration object and enable the:
MATLABSourceCode option to include MATLAB source code as comments in the
generated code and the function signature in the function banner
MATLBFcnDesc option to include the function help text in the function banner
Use the -config option to pass the code generation configuration object to the
codegen function.
Use the -report option to create a code generation report.
Use the -args option to specify the class, size, and complexity of input parameters.

Learn More
To...

See...

Learn more about code traceability

Code Traceability

Learn about the location of comments in the

generated code

Location of Comments in Generated Code

See traceability limitations

Traceability Limitations

2-17

3
Simulink Code Generation Tutorials
Generate C Code from Simulink Models on page 3-2
Configure a Model for Code Generation on page 3-6
Generate and Analyze C Code on page 3-11
Customize Code Appearance on page 3-22
Customize Function Interface and File Packaging on page 3-27
Define Data in the Generated Code on page 3-33
Deploy and Verify Executable Program on page 3-41
Embedded Coder Documentation on page 3-48

Simulink Code Generation Tutorials

Generate C Code from Simulink Models

In this section...
Prerequisites on page 3-2
Example Models in Tutorials on page 3-2
Embedded Coder generates readable, compact, and fast C and C++ code for use on
embedded processors, on-target rapid prototyping boards, and microprocessors used in
mass production. You can generate code for a wide variety of applications. These tutorials
focus on real-time deployment of a discrete-time control system. The tutorials include
how to:
Configure a Model for Code Generation on page 3-6
Generate and Analyze C Code on page 3-11
Customize Function Interface and File Packaging on page 3-27
Define Data in the Generated Code on page 3-33
Customize Code Appearance on page 3-22
Deploy and Verify Executable Program on page 3-41

Prerequisites
To complete these tutorials, you must install the following products:
MATLAB
MATLAB Coder
Simulink
Simulink Coder
Embedded Coder

Example Models in Tutorials

The code verification and validation process depends on your model meeting your
requirements and exactly representing your design. Functionality in the model must
3-2

Generate C Code from Simulink Models

be traceable back to model requirements. You can use reviews, analysis, simulations,
and requirements-based tests to prove that your original requirements are met by
your design and that the design does not contain unintended functionality. Performing
verification and validation activities at each step of the process can reduce expensive
errors during production.
The Embedded Coder tutorials use the rtwdemo_roll model, which has been verified for
simulation. To open the model, in the Command Window, type:
rtwdemo_roll

The model opens in the Simulink Editor.

The rtwdemo_roll model implements a basic roll axis autopilot algorithm, which
controls the aileron position of an aircraft.

3-3

Simulink Code Generation Tutorials

There are two operating modes: roll attitude hold and heading hold. The mode
logic for these modes is external to this model. The model architecture uses atomic
subsystems to represent the roll angle reference (RollAngleReference), heading hold
mode (HeadingMode), and basic roll attitude (BasicRollMode) functions as atomic
subsystems. The roll attitude control function is a PID controller that uses roll attitude
and roll rate feedback to produce an aileron command. The input to the controller is
either a basic roll angle reference or a roll command to track the desired heading. The
controller operates at 40 Hz.
Two additional models are provided for the Embedded Coder tutorials:

3-4

Generate C Code from Simulink Models

rtwdemo_roll_codegen: This model is rtwdemo_roll configured for code

generation with optimizations applied according to the code generation objectives.
rtwdemo_roll_harness: This model is a harness model to test
rtwdemo_roll_codegen.
To begin the tutorials for code generation, see the first example, Configure a Model for
Code Generation on page 3-6.

3-5

Simulink Code Generation Tutorials

Configure a Model for Code Generation

In this section...
Solver for Code Generation on page 3-6
Code Generation Target on page 3-7
Check Model Configuration on page 3-8
Model configuration parameter settings determine how a model simulates and how the
software generates code and builds an executable for the model. You specify the model
configuration parameters on the Configuration Parameters dialog box or at the command
line. The settings in the Configuration Parameters dialog box specify the model's active
configuration set, which is saved with the model.
When generating code for an embedded system, choosing the model configuration
settings can be complex. At a minimum, you must configure the solver, system target file,
hardware implementation, and optimizations according to your application requirements.

Solver for Code Generation

To prepare the model for generating C89/C90 compliant C code:
1

If rtwdemo_roll is not already open, in the Command Window, type:

rtwdemo_roll

Save the model to a local folder as roll.slx.

To open the Configuration Parameters dialog box, on the Simulink Editor toolbar,
click the Model Configuration Parameters icon.

In the Configuration Parameters dialog box, in the left navigation pane, select the
Solver pane.

To generate code, the model must use a fixed-step solver, which maintains a constant
(fixed) step size. In the generated code, the Solver parameter applies a fixed-step
integration technique for computing the state derivative of the model. The Fixed-step
3-6

Configure a Model for Code Generation

size parameter sets the base rate, which must be the lowest common multiple of all rates
in the system. For roll, the following solver settings are selected.

Code Generation Target

To specify a target configuration for the model, you can choose a ready-to-run Embedded
Real-Time Target (ERT) configuration. The code generator uses this target file to
generate code that is optimized for embedded system deployment.
1

In the Configuration Parameters dialog box, select the Code Generation pane.

To open the System Target File Browser dialog box, click the System target file
parameter Browse button. The System Target File Browser dialog box includes
a list of available targets. This example uses the system target file ert.tlc
Embedded Coder, which is already set.

3-7

Simulink Code Generation Tutorials

In the System Target File Browser dialog box, click OK.

Check Model Configuration

When generating code for real-time deployment, your application might have objectives
related to code efficiency, memory usage, safety precaution, and traceability. You can run
the Code Generation Advisor to assess whether the model configuration settings meet
your set of prioritized objectives. After running the advisor, you get information on how
to modify your model configuration parameters to meet the specified objectives.
Set Code Generation Objectives with Code Generation Advisor

3-8

In the Configuration Parameters dialog box, select the Code Generation pane.

Click Set Objectives.

In the Select Objectives dialog box, the following objectives are in the Selected
objectives prioritized list in the following order: Execution efficiency,
Traceability, Safety precaution, and RAM efficiency.

Click OK. In the Configuration Parameters dialog box, the selected objectives are
shown in the Prioritized objectives list.

Configure a Model for Code Generation

Check Model Against Code Generation Objectives

1

In the Configuration Parameters dialog box, on the Code Generation pane, click
Check Model.

In the System Selector dialog box, click OK to run checks on roll.

The Code Generation Advisor window opens. After the advisor runs, in the left pane,
there are two warnings indicated by yellow triangles.

View Model Configuration Recommendations

In the Code Generation Advisor window:

3-9

Simulink Code Generation Tutorials

In the left pane, click Check model configuration settings against code
generation objectives.

In the right pane, review the recommendations for the configuration parameters in
the table.

To change the configuration parameters that caused the warnings to the softwarerecommended settings, click Modify Parameters. The Result table displays the
parameters and changed values. Clicking a parameter name displays Configuration
Parameters dialog box pane where the parameter exists.

In the left pane, click the next warning for Identify blocks that generate
expensive fixed-point and saturation code.

In the right pane, find the warning, Identify Discrete Integrator blocks for
questionable fixed-point operations. Under the warning, click the link to the
Integrator block.
In the Simulink Editor, the Integrator block is highlighted in blue.

Right-click the Integrator block and in the list, select Block

Parameters(DiscreteIntegrator).

In the Block Parameter dialog box, set the Initial condition setting to State
(most efficient).

Click Apply and OK.

Save your model.

The example model rtwdemo_roll_codegen contains the modifications made in this

example to rtwdemo_roll. The next example shows how to generate code, examine the
code, and trace between the code and model. See Generate and Analyze C Code on page
3-11.
3-10

Generate and Analyze C Code

Generate and Analyze C Code

In this section...
Generate Code on page 3-11
Analyze the Generated Code on page 3-13
Trace Between Code and Model on page 3-19
After configuring your model for code generation, you generate and view the code. To
analyze the generated code, you can generate an HTML code generation report that
provides a view of the generated code and information about the code. This example uses
the configured model roll from the example, Generate and Analyze C Code on page
3-11. For this example, open rtwdemo_roll_codegen and save it to a local folder as
roll.slx.

Generate Code
Before generating code, you can specify that the code generation process generates an
HTML report that includes the generated code and information about the model. This
information helps you to evaluate the generated code.
1

Open the Configuration Parameters dialog box.

In the left navigation pane, select the Code Generation > Report pane.

Observe the selected parameters that create a code generation report and include
traceability between the code to the model.
Create code generation report
Open report automatically
Code-to-model
Model-to-code, which enables the Traceability Report Contents parameters.

To include static code metrics in the code generation report, confirm that Static code
metrics is selected.

3-11

Simulink Code Generation Tutorials

On the Code Generation pane, select the Generate code only check box.

Click Apply.

Press Ctrl+B to generate code.

After the code generation process is complete, the HTML code generation report opens.

3-12

Generate and Analyze C Code

Note: If you close the code generation report, you can reopen the report from the
Simulink Editor by selecting the menu option: Code > C/C++ Code > Code Generation
Report > Open Model Report.

Analyze the Generated Code

The code generation process places the source code files in the build folder
roll_ert_rtw. The HTML code generation report files are placed in the
roll_ert_rtw/html folder. The code generation report includes the generated code and
several reports that provide information for evaluating the generated code. The following
sections describe each of these reports:
3-13

Simulink Code Generation Tutorials

Subsystem Report on page 3-14

Code Interface Report on page 3-15
Traceability Report on page 3-16
Static Code Metrics Report on page 3-18
Code Replacements Report on page 3-18
Generated Code on page 3-18
Subsystem Report
To open the subsystem report, in the left pane of the code generation report, click
Subsystem Report. You can implement nonvirtual subsystems as inlined, void/void
functions, or reusable functions. In the subsystem report, you can view information on
how nonvirtual subsystems are configured in the model and implemented in the code. In
the Code Mapping section, the subsystem report provides traceability from the table
to the Subsystem block in the model. The table includes information about whether a
subsystem is configured for reuse and if the subsystem function code is reused.

The Code Reuse Exceptions section provides information on subsystems configured for
reuse, but code reuse does not occur. For this model, there are no reuse exceptions.
3-14

Generate and Analyze C Code

Code Interface Report

The code interface report provides documentation of the generated code interface for
consumers of the generated code. The generated code interface includes model entry
point functions and interface data. The information in the report can help facilitate
code reviews and code integration. There are potentially three entry point functions to
initialize, step, and terminate the real-time capable code. The code generated for this
model has an initialize and step function.

For roll, the Inports and Outports sections include block names that you can click to
navigate to the corresponding block in the model. The other columns in the table include
the name for the block, the data type, and dimension as it is represented in the generated
code.
3-15

Simulink Code Generation Tutorials

Traceability Report
To map model objects to and from the generated code, open the traceability report. The
Eliminated / Virtual Blocks table lists objects that are virtual or eliminated from the
generated code due to an optimization.

In the Traceable Simulink Blocks / Stateflow Objects / MATLAB Functions table,

click an Object Name to highlight the object in the model diagram. You can also click
the corresponding Code Location, which displays the generated code for that object.

3-16

Generate and Analyze C Code

3-17

Simulink Code Generation Tutorials

Static Code Metrics Report

You can monitor code metrics as you develop your model and refine its configuration.
The code generator performs static analysis of the generated C code and provides
these metrics in the static code metrics report. Static analysis of the generated code is
performed only on the source code without executing the program. Information in the
report includes metrics on files, global variables, and functions. For example, the Global
Variables table includes information for each global variable: size, number of reads and
writes, and number of reads and writes in a function.

Code Replacements Report

You can use the code replacements report to determine which code replacement library
(CRL) functions you use in the generated code. The report includes traceability from each
replacement instance back to the block that triggered the replacement. For this model, no
code replacement library is specified.
Generated Code
You can view the generated code source files in the code generation report. Click the
file names in the left navigation pane. The generated model.c file roll.c contains the
algorithm code, including the ODE solver code. The model data and entry point functions
are accessible to a caller by including roll.h. In the left navigation pane, click roll.h
to view the extern declarations for block outputs, continuous states, model output, entry
points, and timing data.
3-18

Generate and Analyze C Code

Trace Between Code and Model

To verify the generated code, you can specify that your model generates hyperlinks in
the source code in the code generation report. The hyperlinks trace to the corresponding

3-19

Simulink Code Generation Tutorials

element in the model. For this example, roll is set up to include traceability. To enable
traceability and generate hyperlinks the following parameters must be selected:
On the Code Generation > Report pane:
Code-to-model
Model-to-code
On the Code Generation > Comments pane:
Include comments
Simulink block / Stateflow object comments
Trace from Model to Code
To trace from roll to the code generation report, in the Simulink Editor, right-click the
HeadingMode subsystem. From the menu list, select C/C++ code > Navigate to C/C++
code. In the code generation report, the source code for HeadingMode is highlighted.

Trace from Code to Model

To trace from the code generation report to the model, in the left navigation pane of
the code generation report, select roll.c. Comments in the code contain underlined
text that are hyperlinks to the model. For example, when you click the hyperlink for
RollAngleReference:

the RollAngleReference subsystem is highlighted in the Simulink Editor.

3-20

Generate and Analyze C Code

After reviewing the reports and analyzing the generated code, you can change the
appearance of the generated code according to defined style standards. To change the
generation of comments, identifiers, and code style, see the next example, Customize
Code Appearance on page 3-22.

3-21

Simulink Code Generation Tutorials

Customize Code Appearance

In this section...
Comments on page 3-22
Identifiers on page 3-23
Code Style on page 3-25
Modifying the code appearance helps you to adhere to your coding standards and
enhance the readability of the code for code reviews. You can change the appearance
of the generated code by specifying comment style, customizing identifier names, and
choosing from several code style parameters. This example uses the configured model
roll from the example, Generate and Analyze C Code on page 3-11. For this example,
open rtwdemo_roll_codegen and save it to a local folder as roll.slx.

Comments
To customize the appearance of comments in the generated code for model roll, open
the Configuration Parameters dialog box and select the Code Generation > Comments
pane.

In the model roll, Include comments is selected to include comments in the generated
code and enable the other comment parameters. If you configured your model for
3-22

Customize Code Appearance

traceability, enabling comments provides traceability hyperlinks in the generate code

comments.
The Custom comments group of parameters provides additional options for controlling
specific comments for model elements.

Identifiers
To customize the appearance of identifiers in the generated code, in the Configuration
Parameters dialog box, select the Code Generation > Symbols pane. The Autogenerated identifier naming rules group of parameters allows you to include a string
of predefined tokens to customize the generated identifier names. In the model roll, the
tokens specified are the default values.

3-23

Simulink Code Generation Tutorials

Common tokens to include are:

$M: The $M token is a name mangling string to avoid naming collisions. The position
of the $M token determines the position of the name mangling string in the generated
identifier. For most of the variables that you customize, this token is required in the
specification. The Minimum mangle length parameter determines the size of the
mangling string.
$N: This token includes the name of a model object (block, signal or signal object,
state, parameter, shared utility function, or parameter object) for which the identifier
is being generated.
$R: This token inserts the root model name into the identifier. When you use
referenced models, this token is required.
3-24

Customize Code Appearance

For example, in the roll model, the Local block output variables is specified with an
rtb prefix.
1

If the code generation report is not open, generate code for the roll model.

In the HTML code generation report, in the left navigation pane, select roll.c.

At the top of the window, in the Find box, type rtb and press Enter.
Variables beginning with rtb are highlighted in the report.

To navigate between instances, use the up and down arrows in the code generation
report.

Code Style
To customize the appearance of the generated code, in the Configuration Parameters
dialog box, click the Code Generation > Code Style pane.
3-25

Simulink Code Generation Tutorials

The parameters allow you to control the following code styles:

Level of parenthesization
Order of operands in expressions
Empty primary condition expressions in if statements
Whether to generate code for if-elseif-else decision logic as switch-case
statements
Whether to include the extern keyword in function declarations
Whether to generate default cases for switch-case statements in the code for
Stateflow charts
How to specify casting for variable data types in the generated code
Code indentation
With Embedded Coder, you can specify how the software generates function interfaces
and packages the generated files. For more information, see the next example,
Customize Function Interface and File Packaging on page 3-27.

3-26

Customize Function Interface and File Packaging

Customize Function Interface and File Packaging

In this section...
Model Interface on page 3-27
Subsystem Interface on page 3-30
Customize File Packaging on page 3-31
With Embedded Coder, you can specify the function interfaces for models and atomic
subsystems in the generated code. You can also specify how the code is placed into files
and folders. This example uses the configured model roll from the example, Generate
and Analyze C Code on page 3-11. For this example, open rtwdemo_roll_codegen and
save it to a local folder as roll.slx.

Model Interface
You can configure the interface of the code for the model in the Configuration Parameters
dialog box, on the Code Generation > Interface pane. By default, the models entry
points are implemented as void/void functions. Model roll is set to generate nonreusable
code with a minimal function interface.
When configuring the model interface, you can choose whether to produce reusable
or nonreusable code. Reusable code consists of reentrant functions that can be called
with different data sets. In general, nonreusable code executes more efficiently in an
embedded system because nonreentrant functions can avoid pointer dereference.
For this example, roll is configured to generate a nonreusable function interface. Verify
that Code interface packaging is set to Nonreusable function.

For roll, the interface settings direct the code generator to create two entry point
functions to initialize and step through algorithm code.
3-27

Simulink Code Generation Tutorials

Configuration Parameter

Description

Suppress error status in real-time

model data structure is selected

Remove the error status field in the realtime model data structure

All Parameters > Single output/update Produce a single entry point function to
step the model
function is selected
All Parameters > Terminate function
required is cleared

Eliminate the entry point function to

terminate the model

All Parameters > Combine signal/state Produce a single data structure for the
models global data
structures is selected
The software generates this code based on the following assumptions:
The solver setting indicates that the step function executes the code at 40 Hz.
The initialize function is called once prior to executing the step function.
Configure Model Initialize and Step Functions
You can specify the names of the model initialize and step function, and the function
prototype of the model step function.

3-28

To open the Model Interface dialog box, on the Interface pane, click Configure
Model Functions.

In the Model Interface dialog box, specify Function specification as Model

specific C prototypes.

Click Get Default Configuration. The Model Interface dialog box expands to
display the Configure model initialize and step functions parameters.

Customize Function Interface and File Packaging

3-29

Simulink Code Generation Tutorials

Change Initialize function name to roll_init.

Change Step function name to roll_step.

In the Step function arguments table, verify that the order of the first two
arguments is Phi and then Psi. You can use the Up and Down buttons to reorder
the arguments.

Modify the third return argument, P, to a Pointer in the Category column.

Change the Outport, Ail_Cmd, to return by Value in the Category column.

Click Validate, so that consistency checking is performed on the interface

specification.

10 Click Apply and OK.

11 In the Simulink Editor, press Ctrl+B to generate the code. In the code generation
report, see that the code matches the specification.

Subsystem Interface
You can configure how the software implements atomic subsystems in the generated
code. In the Simulink editor, locate the subsystem, BasicRollMode.

3-30

Right-click BasicRollMode and select Block Parameters (Subsystem).

In the Block Parameters dialog box, click the Code Generation tab. The Function
packaging parameter Auto option instructs the software to use its heuristic to
implement the system efficiently, based on its usage in the model. Otherwise, you
can specify the function implementation based on criteria that you are using for
execution speed and memory utilization.

Customize Function Interface and File Packaging

Specify the Function packaging parameter as Nonreusable function.

To use the block name as the function name, in the dialog box, specify Function
name options as Use subsystem name.

To place the code for the function in a separate file and use the function name,
specify File name options as Use function name.

To pass the subsystem inputs and outputs as arguments to the function, specify
Function interface as Allow arguments.

Click Apply and OK.

Press Ctrl+B to generate the code. Verify that the subsystem code is in
roll_BasicRollMode.c and its declaration is in roll_BasicRollMode.h.

Customize File Packaging

In the previous section, using the Subsystem block parameters, you specified file
packaging of the generated code at the subsystem level. You can also configure file
packaging at the model level.
In the Configuration Parameters dialog box, on the Code Generation > Code
Placement pane, you can specify the File packaging format parameter with the
following options: Modular, Compact (with separate data file), and Compact.
This parameter instructs the code generator to modularize the code into many files or

3-31

Simulink Code Generation Tutorials

compact the generated code into a few files. If your model contains referenced models,
you can specify a different file packaging format for each referenced model.
For your model roll, the File packaging format is set to Modular. Therefore, the code
generator creates the following files:
roll.c
roll.h
roll_private.h
roll_types.h
Subsystem files: roll_BasicRollMode.c and roll_BasicRollMode.c
This example showed how to configure the function interfaces for a model and a
subsystem. The example showed how to configure your model to modularize the
generated code into different file packaging formats. The next example shows how to set
up your model to specify how data appears in the generated code. For more information,
see Define Data in the Generated Code on page 3-33.

3-32

Define Data in the Generated Code

Define Data in the Generated Code

In this section...
Control Placement of Data in Generated Files on page 3-33
Signal Representation in the Generated Code on page 3-34
Parameter Representation in the Generated Code on page 3-38
Save Data Objects in Data Dictionary on page 3-39
To control how model data is represented in the generated code, you can specify Simulink
data objects. With data objects, you can create variables in the base workspace that allow
you to parameterize the specification of model data, such as signals and parameters. You
can use the variables to specify parameter and signal attributes. These variables also
determine how each parameter and signal is defined and declared in the generated code.
This example uses the configured model roll from the example, Generate and Analyze
C Code on page 3-11. For this example, open rtwdemo_roll_codegen and save it to a
local folder as roll.slx.

Control Placement of Data in Generated Files

At the model level, you can control which generated files contain model data definitions
and declarations. Separating the data declaration and assignment simplifies the
integration of the code into the production environment.
1

For model roll, open the Configuration Parameters dialog box.

In the Configuration Parameters dialog box, open Code Generation > Code
Placement.

Set Data definition to Data defined in a single separate source file.

Set Data declaration to Data declared in a single separate header
file.

3-33

Simulink Code Generation Tutorials

Click Apply and OK.

By default, the code generator places definitions and declarations for global data that use
custom storage classes in the generated files global.c and global.h. Data that do not
use custom storage classes do not appear in these files.
You can also use custom storage classes such as ExportToFile to override this default
placement.

Signal Representation in the Generated Code

Specify Storage Class for Signal Data
A storage class specification of a signal, parameter, or data object provides you with
control over how that entity is declared, stored, and represented in the generated code.
As you are preparing to generate code, consider how many data entities in your model
that you want to specify as a data object. If there are a large number, you can use the
Data Object Wizard to find candidates in your model and create data objects. These steps
show this workflow using two signals in the model roll.

3-34

In the Simulink Editor, select Code > Data Objects > Data Object Wizard.

In the Data Object Wizard, in the Find options group, select all of the check boxes.

Click Find.

Click the check boxes next to ailCmd and phiCmd.

In the Class column, if the data object class is not Simulink.Signal, click Change
Class. In the dialog box, for the drop-down list Signal, select Simulink.Signal.
Click OK.

Define Data in the Generated Code

In the Data Object Wizard, click Create to create the data objects. When the data
objects are created in the base workspace, the signal names no longer appear in the
Data Object Wizard.

Close the Data Object Wizard.

In the Simulink Editor, open the Model Explorer by clicking the icon.

In the Model Explorer, on the left pane, in the Model hierarchy tree, click Base
Workspace. The newly created data objects are now listed in the base workspace
(center pane).

The next step is to associate the data objects with the signals.
Configure Signal Data Objects
To configure the new signal data objects ailCmd and phiCmd, define the data objects
such that the code generator places them in a struct in the generated code.
1

In the Model Explorer, with the base workspace available in the center pane, select
ailCmd.
The Simulink.Signal properties are displayed in the right pane.

Specify the Storage class as Struct (Custom).

3-35

Simulink Code Generation Tutorials

3-36

Specify StructName as signal_data.

Click Apply.

Repeat steps 1 through 4 for phiCmd. ailCmd and phiCmd use the same
StructName, signal_data.

Define Data in the Generated Code

On the Code Generation > Interface pane, click the Configure Model
Functions button. On the Model Interface dialog box, set the Function
specification parameter to Default model initialize and step
functions. Click Apply and OK.

In the model, press Ctrl+B to generate code.

Now the variables ailCmd and phiCmd are defined in a struct in roll.h and used in
roll.c. The struct definition looks similar to the following:
/* Type definition for custom storage class: Struct */
typedef struct signal_data_tag {
real32_T phiCmd;
real32_T ailCmd;
} signal_data_type;

Resolve Signal with Data Object

You must specify that a signal name is associated with a data object in the base
workspace. For each signal, ailCmd and phiCmd, do the following:
1

In the Simulink Editor, right-click the signal line.

From the list, select Properties.

In the Signal Properties dialog box, observe that the Signal name must resolve
to Simulink signal object parameter is selected. When the Data Object Wizard
created Simulink.Signal data objects, the software set this parameter.

Click OK.

Notice the signal object icon on the signal. This icon is another indication that the signal
is associated with a Simulink.Signal object in the base workspace.

3-37

Simulink Code Generation Tutorials

Parameter Representation in the Generated Code

An alternative workflow to using the Data Object Wizard is to add objects to the base
workspace in the Model Explorer. You can add objects for both signals and parameters.
This example shows how to create Simulink.Parameter objects for constant values in
the model roll.
1

In the Simulink Editor, double-click the subsystem RollAngleReference. Locate

the Constant blocks UpThr and LoThr.

For each Constant block:

3
3-38

Right-click the block and select Block Parameters (Constant) from the list.

In the Block Parameter dialog box, replace the numeric Constant value with
the corresponding variable name: upThr for 6, or loThr for -6.

Click Apply and OK.

In the Model Explorer, in the left navigation pane, select Base Workspace.

Define Data in the Generated Code

From the menu bar, select Add > Simulink.Parameter. This action creates a
Simulink.Parameter object with the default name Param in the center pane.

In the center pane, click the name of the object and rename it to upThr. Press
Enter. The data object properties for upThr are displayed in the right pane.

In the right pane, specify the properties as follows:

Value is 6
Storage class is ExportTofile (Custom)
HeaderFile is specified as threshold

Click Apply.

Repeat steps 4 through 7 for loThr, using -6 as the Value.

In the Model Explorer, this graphic is how the base workspace appears.

From the Simulink Editor, press Ctrl+B to generate code.

10 In the code generation report, select threshold.h. In the file, find the data
declarations for upThr and loThr.
11 In the file global.c, find the data definitions. Because the data objects upThr
and loThr use a custom storage class, by default the generated code places the
definitions in global.c.

Save Data Objects in Data Dictionary

Data objects that you create in the base workspace are not saved with the model. When
you end your MATLAB session, these objects do not persist. To permanently store these
objects, you can save them in a data dictionary and link the model to the dictionary.
3-39

Simulink Code Generation Tutorials

In the model, select File > Model Properties > Link to Data Dictionary.

In the Model Properties dialog box, select Data Dictionary. Click New.

In the Create a new Data Dictionary dialog box, set File name to rollDict. Click
Save.
The data dictionary file rollDict.sldd appears in your current folder.

In the Model Properties dialog box, click OK.

Click Yes in response to the message about migrating base workspace data.

Click Yes in response to the message about removing imported items from the base
workspace.

In the lower-left corner of the model, click the data dictionary badge.
The contents of the data dictionary appear in the Model Explorer.

The data dictionary rollDict.sldd permanently stores the Simulink.Signal and

Simulink.Parameter objects that the model uses.
This example shows how to define data objects to represent signal and parameter data
in the generated code. The next example shows how to deploy and verify an executable
program for your model. For more information, see Deploy and Verify Executable
Program on page 3-41.

Related Examples

Control Data Representation by Applying Custom Storage Classes

More About

3-40

Data Objects

What Is a Data Dictionary?

Default Data Structures in the Generated Code

Deploy and Verify Executable Program

Deploy and Verify Executable Program

In this section...
Test Harness Model on page 3-41
Simulate in Normal Mode on page 3-42
Simulate in SIL Mode on page 3-44
Compare Simulation Results on page 3-44
Improve Code Performance on page 3-45
More Information About Code Generation in Model-Based Design on page 3-46
To verify code execution results, you can use software-in-the-loop (SIL) and processorin-the-loop (PIL) testing. A SIL simulation involves compiling and running production
source code on your host computer. A PIL simulation involves cross-compiling and
running production object code on a target processor or an equivalent instruction set
simulator. Embedded Coder automates execution of generated code in Simulink for SIL
testing or on the embedded target for PIL testing using Simulink simulation modes or Sfunction blocks. You can use SIL and PIL simulations to:
Verify the numerical behavior of your code.
Collect code metrics such as code coverage and execution profiling data.
Optimize your code.
Progress towards achieving IEC 61508, IEC 62304, ISO 26262, EN 50128 or DO-178
certification.
This example simulates a test harness model in normal mode, and then simulates the
model in SIL mode. Results are logged to the Simulation Data Inspector. Comparing
the results helps you verify that simulating the model produces the same results as
executing the generated code.

Test Harness Model

One method for verifying the code generated for a model is to use a test harness
model that includes the model to be tested as a referenced model. You can generate a
test harness model with Simulink Verification and Validation software. With a test
harness model, you can easily switch the Model block between normal, SIL, or PIL
simulation mode. Test vectors provide a baseline for the behavior of the generated
code and verify that the model meets requirements. This example uses a test harness
3-41

Simulink Code Generation Tutorials

model, rtwdemo_roll_harness, which generates test inputs to the referenced model,

rtwdemo_roll_codegen.

When running in SIL simulation mode, the configuration parameters for the top model
and the referenced model must match.
1

Open the example models rtwdemo_roll_harness and rtwdemo_roll_codegen.

Save rtwdemo_roll_harness as roll_harness to a local folder.

Open the Configuration Parameters dialog boxes for roll_harness and

rtwdemo_roll_codegen.

For roll_harness, on the Code Generation pane, verify that the Generate code
only check box is cleared.

On the Hardware Implementation pane, expand Device details. If Support

long long is not already selected, select the check box.

If you make changes, click Apply and OK.

Simulate in Normal Mode

Run the harness model in normal mode and capture the results in the Simulation Data
Inspector.
1

3-42

To send logged data from the workspace to the Simulation Data Inspector for
model roll_harness, on the Simulink Editor toolbar, click the Simulation Data

Deploy and Verify Executable Program

Inspector button arrow and select Send Logged Workspace Data to Data
Inspector.

2
3

Right-click the Model block, Roll Axis Autopilot, and from the context menu,
select Block Parameters (ModelReference).

In the Block Parameters dialog box, for Simulation mode, verify that the Normal
option is selected. Click OK.

Simulate roll_harness.

When the simulation is done, view the simulation results in the Simulation Data
Inspector. If the Simulation Data Inspector is not already open, in the Simulink
Editor, click the Simulation Data Inspector button.

For the new run, double-click the run name field and rename the run:
roll_harness: Normal mode.

Expand the run and select ailCmd to plot the signal.

3-43

Simulink Code Generation Tutorials

Simulate in SIL Mode

In a SIL simulation, code is generated, compiled, and executed on the host computer.
Results are logged in the Simulation Data Inspector, in addition to the results from
running in normal mode.
1

In the roll_harness model window, right-click the Roll Axis Autopilot model
block and select Block Parameters (ModelReference).

In the Block Parameters dialog box, specify Simulation mode as Software-inthe-loop (SIL). Click Apply and OK.

On the Simulink Editor toolbar, verify that logged data recording is on.

Simulate the roll_harness model.

In the Simulation Data Inspector, double-click the run name field and rename the
new run to roll_harness: SIL mode.

Expand the run and select ailCmd to plot the signal.

Compare Simulation Results

In the Simulation Data Inspector:

3-44

Click the Compare tab.

For Baseline, select roll_harness: Normal mode. For Compare To, select
roll_harness: SIL mode.

Click Compare.

Deploy and Verify Executable Program

If you find differences in testing results, it is important to investigate and understand the
differences. Some differences can be attributed to implementation changes (converting
from an interpreted model to an executable implementation), or can be an indication of
bugs. You must understand all differences to confirm that the behavior of the system is
free of bugs.

Improve Code Performance

To generate code that meets code performance requirements, you can design and
configure your model to support code generator optimizations. You can use the Code
Generation Advisor for guidance on configuring your model to meet code generation
objectives.

3-45

Simulink Code Generation Tutorials

After testing your model and code, you can fine-tune your model configuration to improve
the code performance. For a specific performance goal, Embedded Coder provides model
configuration parameters on the Optimization panes to help you improve memory
usage and reduce execution time.
When choosing optimization parameters for your model, consider the trade-offs of
one optimization over another optimization. Improving one area of performance can
sacrifice another area of performance. For example, reducing memory usage can sacrifice
execution efficiency.

More Information About Code Generation in Model-Based Design

The following table includes links to additional information for generating, executing,
and verifying production code for your model.
To

See

Quickly generate readable, efficient code

from your model

Generate Code with the Embedded Coder

Quick Start Tool

Consider model design and configuration

for code generation

Model Architecture and Design

Generate code variants using macros for

preprocessor compilation from models

Variant Systems

Achieve code reuse

Subsystems and Referenced Models

Define and control model data

Data Representation

Control generation of function and class

interfaces

Function and Class Interfaces

Control naming and partitioning of data

and code across generated source files

File Packaging

Select and configure the target

environment for your application

Target Environment Configuration

Configure model for code generation

objectives, such as efficiency or safety

Configure Model for Code Generation

Objectives Using Code Generation Advisor

Configure parameters for specifying

Code Appearance
identifier names, code comments, style, and
templates
3-46

Deploy and Verify Executable Program

To

See

Export component XML description and C

code for AUTOSAR run-time environment

AUTOSAR Code Generation

Deployment of standalone programs to

target hardware

Deploy Generated Standalone Executables

To Target Hardware

Choose and apply integration paths and

methods

External Code Integration

Improve code performance, such as memory Performance

usage and execution speed
Collect code coverage metrics for generated Code Coverage
code during SIL or PIL simulation,
using a third-party tool to measure test
completeness
SIL and PIL testing

Software-in-the-Loop (SIL) Simulation

and Processor-in-the-Loop (PIL)
Simulation

View and analyze execution profiles of code Code Execution Profiling

sections

3-47

Simulink Code Generation Tutorials

Embedded Coder Documentation

The Embedded Coder documentation is divided into two categories:
Code Generation from MATLAB Code
Provides information on generating C and C++ code from MATLAB code. This
documentation is targeted to customers who are not generating code from Simulink
models and do not have the Simulink and Simulink Coder products. To get started
generating C and C++ code from MATLAB code, see Generate C Code from MATLAB
Code on page 2-2.
Code Generation from Simulink Models
Provides information on generating C and C++ code from Simulink models. This
documentation is targeted for customers who are generating code from Simulink
models and have the Simulink and Simulink Coder products. Typically, these
customers generate C and C++ code from MATLAB code by using the MATLAB
Function block in a Simulink model. To get started generating C and C++ code from
Simulink models, see Generate C Code from Simulink Models on page 3-2.

3-48

A
Installing and Using IDE

Installing Eclipse IDE and Cygwin Debugger

Installing Eclipse IDE and Cygwin Debugger

In this section...
Installing the Eclipse IDE on page A-2
Installing the Cygwin Debugger on page A-3

Installing the Eclipse IDE

This section describes how to install the Eclipse IDE for C/C++ Developers and the
Cygwin debugger for use with the integration and verification tutorials. Installing
and using the Eclipse IDE for C/C++ Developers and the Cygwin debugger is optional.
Alternatively, you can use another Integrated Development Environment (IDE) or use
equivalent tools such as command-line compilers and makefiles.
1

From the Eclipse Downloads web page (http://www.eclipse.org/downloads/), download

the Eclipse IDE for C/C++ Developers to your C: drive.
You also need the Eclipse C/C++ Development Tools (CDT) that are compatible with
the Eclipse IDE. You can install the CDT as part of the Eclipse C/C++ IDE packaged
zip file or you can install it into an existing version of the Eclipse IDE.

A-2

If You Install the CDT...

Then...

As part of the Eclipse C/C++ IDE

packaged zip file

Go to step 4

Into an existing version of the

Eclipse IDE

Go to step 2

From the Eclipse CDT Downloads page (http://www.eclipse.org/cdt/downloads.php),

download the Eclipse C/C++ Development Tools (CDT) that is compatible with your
installed version of the Eclipse IDE.

Unzip the downloaded Eclipse CDT zip file. Copy the contents of the directories
features and plugins to the corresponding directories in c:\eclipse.

Create the folder c:\eclipse.

Unzip the downloaded Eclipse IDE zip file into c:\eclipse.

On your desktop, create a link to the executable file c:\eclipse\eclipse.exe.

Installing Eclipse IDE and Cygwin Debugger

Installing the Cygwin Debugger

1

From the Cygwin home page (http://www.cygwin.com), download the Cygwin

setup.exe file.

Run the setup.exe file. A Cygwin Setup - Choose Installation Type dialog box
opens.

Follow the installation procedure:

Select the option for installing over the Internet.
Accept the default root folder c:\cygwin.
Specify a local package folder. For example, specify c:\cygwin\packages.
Specify how you want to connect to the Internet.
Choose a download site.

In the dialog box for selecting packages, set the Devel category to Install by clicking
the selector icon

Add the folder c:\cygwin\bin to your system Path variable. For example, on a
Windows XP system:
a

Click Start > Settings > Control Panel > System > Advanced >
Environment Variables.

Under System variables, select the Path variable and click Edit.

Add c:\cygwin\bin to the variable value and click OK.

Note: To use Cygwin, your build folder must be on your C drive. The folder path cannot
include spaces.

A-3

Integrating and Testing Code with Eclipse IDE

Integrating and Testing Code with Eclipse IDE

In this section...
About Eclipse on page A-4
Define a New C Project on page A-4
Configure the Debugger on page A-5
Start the Debugger on page A-6
Set the Cygwin Path on page A-6
Debugger Actions and Commands on page A-7

About Eclipse
Eclipse (www.eclipse.org) is an integrated development environment for developing
and debugging embedded software. Cygwin (www.cygwin.com) is an environment that is
similar to the Linux environment, but runs on Windows and includes the GCC compiler
and debugger.
This section contains instructions for using the Eclipse IDE with Cygwin tools to build,
run, test, and debug projects that include generated code. There are many other software
packages and tools that can work with code generation software to perform similar tasks.
Installing Eclipse IDE and Cygwin Debugger on page A-2 contains instructions for
installing Eclipse and Cygwin. Before proceeding, be sure you have installed Eclipse and
Cygwin, as described in that section.
To use Cygwin, your build folder must be on your C drive. The folder path cannot include
spaces.

Define a New C Project

A-4

In Eclipse, choose File > New > C Project. A C Project dialog box opens.

In the C Project dialog box:

a

In the Project name field, type the project name throttlecntrl_## (## is
externenv or testcode) .

In the Location field, specify the location of your build folder (for example, C:
\EclipseProjects\throttlecntrl\externenv).

Integrating and Testing Code with Eclipse IDE

In the Project type selection box, select and expand Makefile project.

Click the Empty Project node.

Under Other Toolchains, select Cygwin GCC .

Click Next. A Select Configurations dialog box opens.

In the Select Configurations dialog box, click Advanced settings. The Properties
dialog box appears.

In the Properties dialog box:

a

Select C/C++ Build.

Select Generate Makefiles automatically.

Select the Behavior tab.

Select Build on resource save (Auto build).

Click Apply and OK.

The Properties box closes.

5

In the Select Configurations dialog box, click Finish.

Configure the Debugger

1

In Eclipse, choose Run > Debug Configurations. The Debug Configurations dialog
box opens.

Double-click C/C++ Application. A throttlecntrl_externenv Default entry

appears under C/C++ Application. The Main tab of the configuration pane appears
on the right side of the dialog box with the following parameter settings:
Parameter

Setting

Name

throttlecntrl_externenv Default

C/C++ Application

Default\throttlecntrl_externenv.exe

Project

throttlecntrl_externenv

Build configuration

Default

Enable auto build

Cleared

Disable auto build

Cleared

Use workspace settings

Selected
A-5

Integrating and Testing Code with Eclipse IDE

Click Close.

Start the Debugger

To start the debugger:
1

In the main Eclipse window, select Run > Debug. A Confirm Perspective Switch
dialog box opens.

Click Yes. Tabbed debugger panes that display debugging information and controls
are displayed in the main Eclipse window.

Specify the location of the project files. The Cygwin debugger creates a virtual
drive (for example, main() at /cygdrive/) during the build process. To run the
debugger, Eclipse remaps the drive or locates your project files. Once Eclipse locates
the first file, it automatically finds the remaining files. In the Eclipse window, click
Locate File. The Open dialog box opens.
For information on using the Edit Source Lookup Path button, see Set the
Cygwin Path on page A-6.

Navigate to the example_main.c file and click Open. Your program opens in the
debugger software.

Set the Cygwin Path

The first time you run Eclipse, you get an error related to the Cygwin path.
To provide the path information:

A-6

Open the Debug Configurations dialog box by selecting Run > Debug
Configurations > C/C++ Application.

Click the Source tab.

Click Add. The Add Source dialog box opens.

Select Path Mapping and click OK. The Path Mappings dialog box opens.

Click Add. In the Compilation path field, type \cygdrive\c\.

In the Local file system path field, click the Browse button, navigate to your C:\
drive, and click OK.

Click Apply.

Click Close.

Integrating and Testing Code with Eclipse IDE

Debugger Actions and Commands

The following actions and commands are available in the debugger.
Action

Command

Step into

F5

Step over

F6

Step out

F7

Resume

F8

Toggle break point

Ctrl + Shift + B

A-7