Stateflow

User's Guide

R2017a
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Stateflow User's Guide

COPYRIGHT 19972017 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
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Revision History
May 1997 First printing New
January 1999 Second printing Revised for Version 2.0 (Release 11)
September 2000 Third printing Revised for Version 4.0 (Release 12))
June 2001 Fourth printing Revised for Version 4.1 (Release 12.1)
July 2002 Fifth printing Revised for Version 5.0 (Release 13)
January 2003 Online only Revised for Version 5.1 (Release 13SP1)
June 2004 Online only Revised for Version 6.0 (Release 14)
October 2004 Online only Revised for Version 6.1 (Release 14SP1)
March 2005 Online only Revised for Version 6.21 (Release 14SP2)
September 2005 Online only Revised for Version 6.3 (Release 14SP3)
March 2006 Online only Revised for Version 6.4 (Release 2006a)
September 2006 Online only Revised for Version 6.5 (Release 2006b)
March 2007 Online only Revised for Version 6.6 (Release 2007a)
September 2007 Online only Revised for Version 7.0 (Release 2007b)
March 2008 Online only Revised for Version 7.1 (Release 2008a)
October 2008 Online only Revised for Version 7.2 (Release 2008b)
March 2009 Online only Revised for Version 7.3 (Release 2009a)
September 2009 Online only Revised for Version 7.4 (Release 2009b)
March 2010 Online only Revised for Version 7.5 (Release 2010a)
September 2010 Online only Revised for Version 7.6 (Release 2010b)
April 2011 Online only Revised for Version 7.7 (Release 2011a)
September 2011 Online only Revised for Version 7.8 (Release 2011b)
March 2012 Online only Revised for Version 7.9 (Release 2012a)
September 2012 Online only Revised for Version 8.0 (Release 2012b)
March 2013 Online only Revised for Version 8.1 (Release 2013a)
September 2013 Online only Revised for Version 8.2 (Release 2013b)
March 2014 Online only Revised for Version 8.3 (Release 2014a)
October 2014 Online only Revised for Version 8.4 (Release 2014b)
March 2015 Online only Revised for Version 8.5 (Release 2015a)
September 2015 Online only Revised for Version 8.6 (Release 2015b)
October 2015 Online only Rereleased for Version 8.5.1 (Release
2015aSP1)
March 2016 Online only Revised for Version 8.7 (Release 2016a)
September 2016 Online only Revised for Version 8.8 (Release 2016b)
March 2017 Online only Revised for Version 8.9 (Release 2017a)
 Contents

Stateflow Chart Concepts

1
Finite State Machine Concepts . . . . . . . . . . . . . . . . . . . . . . . . 1-2
What Is a Finite State Machine? . . . . . . . . . . . . . . . . . . . . . . 1-2
Finite State Machine Representations . . . . . . . . . . . . . . . . . . 1-2
Stateflow Chart Representations . . . . . . . . . . . . . . . . . . . . . . 1-2
Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Semantics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Stateflow Charts and Simulink Models . . . . . . . . . . . . . . . . . 1-4

The Simulink Model and the Stateflow Machine . . . . . . . . . . 1-4
Overview of Defining Stateflow Block Interfaces to Simulink
Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Stateflow Chart Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Stateflow Hierarchy of Objects . . . . . . . . . . . . . . . . . . . . . . . . 1-8

Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Stateflow Chart Notation

2
Overview of Stateflow Objects . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Graphical Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Nongraphical Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Rules for Naming Stateflow Objects . . . . . . . . . . . . . . . . . . . . 2-4

Characters You Can Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Restriction on Name Length . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Keywords to Avoid When Naming Chart Objects . . . . . . . . . . 2-4

v
 States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
What Is a State? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
State Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
State Decomposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
State Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

State Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

State Hierarchy Example . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Objects That a State Can Contain . . . . . . . . . . . . . . . . . . . . 2-16

State Decomposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Exclusive (OR) State Decomposition . . . . . . . . . . . . . . . . . . 2-17
Parallel (AND) State Decomposition . . . . . . . . . . . . . . . . . . 2-17

Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
What Is a Transition? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Transition Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Transition Label Notation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Valid Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23

Transition Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24

Transitions to and from Exclusive (OR) States . . . . . . . . . . 2-24
Transitions to and from Junctions . . . . . . . . . . . . . . . . . . . . 2-24
Transitions to and from Exclusive (OR) Superstates . . . . . . 2-25
Transitions to and from Substates . . . . . . . . . . . . . . . . . . . 2-26

Self-Loop Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28

Inner Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30

Before Using an Inner Transition . . . . . . . . . . . . . . . . . . . . 2-30
After Using an Inner Transition to a Connective Junction . . 2-32
Using an Inner Transition to a History Junction . . . . . . . . . 2-33

Default Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35

What Is a Default Transition? . . . . . . . . . . . . . . . . . . . . . . . 2-35
Drawing Default Transitions . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Label Default Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Default Transition Examples . . . . . . . . . . . . . . . . . . . . . . . . 2-36

Connective Junctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40

What Is a Connective Junction? . . . . . . . . . . . . . . . . . . . . . 2-40
Flow Chart Notation with Connective Junctions . . . . . . . . . 2-40

vi Contents
 History Junctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-46
What Is a History Junction? . . . . . . . . . . . . . . . . . . . . . . . . 2-46
History Junctions and Inner Transitions . . . . . . . . . . . . . . . 2-47

Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
What Is a Box? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
Example of Using a Box . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48

When to Use Reusable Functions in Charts . . . . . . . . . . . . . 2-49

Stateflow Chart Semantics

3
What Do Semantics Mean for Stateflow Charts? . . . . . . . . . . 3-2
What Are Chart Semantics? . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Common Graphical and Nongraphical Constructs . . . . . . . . . 3-3
References for Chart Semantics . . . . . . . . . . . . . . . . . . . . . . 3-7

How Chart Constructs Interact During Execution . . . . . . . . 3-8

Overview of the Example Model . . . . . . . . . . . . . . . . . . . . . . 3-8
Model of the Check-In Process for a Hotel . . . . . . . . . . . . . . . 3-8
How the Chart Interacts with Simulink Blocks . . . . . . . . . . 3-12
Phases of Chart Execution . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Modeling Guidelines for Stateflow Charts . . . . . . . . . . . . . . 3-32

Modeling Rules That Stateflow Detects During Edit Time . 3-34

Object contains a syntax error . . . . . . . . . . . . . . . . . . . . . . 3-35
Dangling transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35
Unreachable state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Transition shadowing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Invalid default transition path . . . . . . . . . . . . . . . . . . . . . . 3-37
Default transition is missing . . . . . . . . . . . . . . . . . . . . . . . . 3-38
Unexpected backtracking . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
Transition loops outside natural parent . . . . . . . . . . . . . . . 3-39
Transition action precedes a condition action along this path 3-40
Invalid transitions crossing into graphical function . . . . . . . 3-41
Invalid transitions crossing out of graphical function . . . . . 3-41

vii
 How Events Drive Chart Execution . . . . . . . . . . . . . . . . . . . 3-43
How Stateflow Charts Respond to Events . . . . . . . . . . . . . . 3-43
Sources for Stateflow Events . . . . . . . . . . . . . . . . . . . . . . . . 3-43
How Charts Process Events . . . . . . . . . . . . . . . . . . . . . . . . 3-44

Types of Chart Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

Lifecycle of a Stateflow Chart . . . . . . . . . . . . . . . . . . . . . . . 3-46
Execution of an Inactive Chart . . . . . . . . . . . . . . . . . . . . . . 3-46
Execution of an Active Chart . . . . . . . . . . . . . . . . . . . . . . . 3-47
Execution of a Chart with Super Step Semantics . . . . . . . . 3-47
Execution of a Chart at Initialization . . . . . . . . . . . . . . . . . 3-55

Process for Grouping and Executing Transitions . . . . . . . . 3-57

Transition Flow Chart Types . . . . . . . . . . . . . . . . . . . . . . . 3-57
Order of Execution for a Set of Flow Charts . . . . . . . . . . . . 3-58

Evaluation Order for Outgoing Transitions . . . . . . . . . . . . . 3-60

What Does Ordering Mean for Outgoing Transitions? . . . . . 3-60
Detection of Transition Shadowing . . . . . . . . . . . . . . . . . . . 3-61
Explicit Ordering of Outgoing Transitions . . . . . . . . . . . . . . 3-61
Implicit Ordering of Outgoing Transitions . . . . . . . . . . . . . . 3-64
What Happens When You Switch Between Explicit and Implicit
Ordering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-69
Transition Testing Order in Multilevel State Hierarchy . . . 3-69

Process for Entering, Executing, and Exiting States . . . . . 3-74

Steps for Entering a State . . . . . . . . . . . . . . . . . . . . . . . . . 3-74
Steps for Executing an Active State . . . . . . . . . . . . . . . . . . 3-75
Steps for Exiting an Active State . . . . . . . . . . . . . . . . . . . . 3-75
State Execution Example . . . . . . . . . . . . . . . . . . . . . . . . . . 3-76

Execution Order for Parallel States . . . . . . . . . . . . . . . . . . . 3-78

Ordering for Parallel States . . . . . . . . . . . . . . . . . . . . . . . . 3-78
Explicit Ordering of Parallel States . . . . . . . . . . . . . . . . . . . 3-79
Implicit Ordering of Parallel States . . . . . . . . . . . . . . . . . . 3-80
Order Maintenance for Parallel States . . . . . . . . . . . . . . . . 3-81
Execution Priorities in Restored States . . . . . . . . . . . . . . . . 3-83
Switching Between Explicit and Implicit Ordering . . . . . . . 3-84
Execution Order of Parallel States in Boxes and Subcharts . 3-84

Early Return Logic for Event Broadcasts . . . . . . . . . . . . . . 3-85

Guidelines for Proper Chart Behavior . . . . . . . . . . . . . . . . . 3-85
How Early Return Logic Works . . . . . . . . . . . . . . . . . . . . . . 3-85

viii Contents
 Example of Early Return Logic . . . . . . . . . . . . . . . . . . . . . . 3-86

Create Stateflow Charts

4
Basic Approach for Modeling Event-Driven Systems . . . . . . 4-2
Identify System Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Select a State Machine Type . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Specify State Actions and Transition Conditions . . . . . . . . . . 4-3
Define Persistent Data to Store State Variables . . . . . . . . . . 4-3
Simplify State Actions and Transition Conditions with Function
Calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Check That Your System Representation Is Complete . . . . . . 4-4

Represent Operating Modes Using States . . . . . . . . . . . . . . . 4-5

Create a State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Move and Resize States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Create Substates and Superstates . . . . . . . . . . . . . . . . . . . . . 4-6
Group States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Specify Substate Decomposition . . . . . . . . . . . . . . . . . . . . . . 4-8
Specify Activation Order for Parallel States . . . . . . . . . . . . . 4-9
Change State Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Label States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

Transition Between Operating Modes . . . . . . . . . . . . . . . . . 4-18

Create a Transition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Label Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
Move Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Change Transition Arrowhead Size . . . . . . . . . . . . . . . . . . . 4-21
Create Self-Loop Transitions . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Create Default Transitions . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
Change Transition Properties . . . . . . . . . . . . . . . . . . . . . . . 4-22

Stateflow Editor Operations . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

Stateflow Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
Undo and Redo Editor Operations . . . . . . . . . . . . . . . . . . . . 4-31
Specify Colors and Fonts in a Chart . . . . . . . . . . . . . . . . . . 4-31
Content Preview for Stateflow Objects . . . . . . . . . . . . . . . . 4-34
Intelligent Tab Completion for Stateflow Charts . . . . . . . . . 4-35
Differentiate Elements of Action Language Syntax . . . . . . . 4-36

ix
 Select and Deselect Graphical Objects . . . . . . . . . . . . . . . . . 4-38
Cut and Paste Graphical Objects . . . . . . . . . . . . . . . . . . . . 4-38
Copy Graphical Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
Comment Out Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
Format Chart Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
Generate a Model Report . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

Model Logic Patterns and Iterative Loops Using

Flow Charts
5
What Is a Flow Chart? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Difference Between Flow Charts and State Transition

Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

When to Use Flow Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Create Flow Charts with the Pattern Wizard . . . . . . . . . . . . 5-5

Why Use the Pattern Wizard? . . . . . . . . . . . . . . . . . . . . . . . . 5-5
How to Create Reusable Flow Charts . . . . . . . . . . . . . . . . . . 5-5
Insert a Logic Pattern Using the Pattern Wizard . . . . . . . . . 5-7
Save and Reuse Flow Chart Patterns . . . . . . . . . . . . . . . . . 5-10
MAAB-Compliant Patterns from the Pattern Wizard . . . . . . 5-12
Create and Reuse a Custom Pattern with the Pattern
Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21

Draw and Customize Flow Charts By Hand . . . . . . . . . . . . . 5-29

How to Draw a Flow Chart . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
How to Change Connective Junction Size . . . . . . . . . . . . . . 5-29
How to Modify Junction Properties . . . . . . . . . . . . . . . . . . . 5-29

Best Practices for Creating Flow Charts . . . . . . . . . . . . . . . 5-31

x Contents
 Build Mealy and Moore Charts
6
Overview of Mealy and Moore Machines . . . . . . . . . . . . . . . . 6-2
Semantics of Mealy and Moore Machines . . . . . . . . . . . . . . . 6-2
Model with Mealy and Moore Machines . . . . . . . . . . . . . . . . 6-3
Default State Machine Type . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Availability of Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Advantages of Mealy and Moore Charts . . . . . . . . . . . . . . . . 6-3

Create Mealy and Moore Charts . . . . . . . . . . . . . . . . . . . . . . . 6-5

Model a Vending Machine Using Mealy Semantics . . . . . . . . 6-6

Open the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Logic of the Mealy Vending Machine . . . . . . . . . . . . . . . . . . . 6-6
Design Rules in Mealy Vending Machine . . . . . . . . . . . . . . . 6-7

Design Considerations for Mealy Charts . . . . . . . . . . . . . . . . 6-8

Mealy Semantics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Design Rules for Mealy Charts . . . . . . . . . . . . . . . . . . . . . . . 6-8

Design Considerations for Moore Charts . . . . . . . . . . . . . . . 6-11

Moore Semantics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Design Rules for Moore Charts . . . . . . . . . . . . . . . . . . . . . . 6-11

Model a Traffic Light Using Moore Semantics . . . . . . . . . . . 6-16

Open the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
Logic of the Moore Traffic Light . . . . . . . . . . . . . . . . . . . . . 6-16
Design Rules in Moore Traffic Light . . . . . . . . . . . . . . . . . . 6-18

Effects of Changing the Chart Type . . . . . . . . . . . . . . . . . . . 6-19

Debug Mealy and Moore Charts . . . . . . . . . . . . . . . . . . . . . . 6-20

Techniques for Streamlining Chart Design

7
Record State Activity Using History Junctions . . . . . . . . . . . 7-2
What Is a History Junction? . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

xi
 Create a History Junction . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Change History Junction Size . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Change History Junction Properties . . . . . . . . . . . . . . . . . . . 7-3

Encapsulate Modal Logic Using Subcharts . . . . . . . . . . . . . . 7-5

What Is a Subchart? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
Create a Subchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Rules of Subchart Conversion . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Convert a State to a Subchart . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Manipulate Subcharts as Objects . . . . . . . . . . . . . . . . . . . . . 7-8
Open a Subchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Edit a Subchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Navigate Subcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

Move Between Levels of Hierarchy Using Supertransitions 7-10

What Is a Supertransition? . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Draw a Supertransition Into a Subchart . . . . . . . . . . . . . . . 7-12
Draw a Supertransition Out of a Subchart . . . . . . . . . . . . . 7-17
Label Supertransitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21

Define a Graphical Function . . . . . . . . . . . . . . . . . . . . . . . . . 7-23

Create a Graphical Function . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Program a Graphical Function . . . . . . . . . . . . . . . . . . . . . . 7-24
Define Graphical Function Data . . . . . . . . . . . . . . . . . . . . . 7-24

Manage Large Graphical Functions . . . . . . . . . . . . . . . . . . . 7-27

Call Graphical Functions in States and Transitions . . . . . . 7-29

Syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29

Specify Graphical Function Properties . . . . . . . . . . . . . . . . 7-30

Reuse Logic Patterns Using Graphical Functions . . . . . . . . 7-32

What Is a Graphical Function? . . . . . . . . . . . . . . . . . . . . . . 7-32
Why Use a Graphical Function in a Stateflow Chart? . . . . . 7-32
Where to Use a Graphical Function . . . . . . . . . . . . . . . . . . 7-32
Limitations Using Events in Graphical Functions . . . . . . . . 7-33

Export Stateflow Functions for Reuse . . . . . . . . . . . . . . . . . 7-34

Why Export Chart-Level Functions? . . . . . . . . . . . . . . . . . . 7-34
How to Export Chart-Level Functions . . . . . . . . . . . . . . . . . 7-34
Rules for Exporting Chart-Level Functions . . . . . . . . . . . . . 7-35

xii Contents
 Export Chart-Level Functions . . . . . . . . . . . . . . . . . . . . . . . 7-35

Group Chart Objects Using Boxes . . . . . . . . . . . . . . . . . . . . . 7-41

When to Use Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Semantics of Stateflow Boxes . . . . . . . . . . . . . . . . . . . . . . . 7-41
Rules for Using Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41
Draw and Edit a Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-42
Examples of Using Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44

Reuse Functions with an Atomic Box . . . . . . . . . . . . . . . . . . 7-48

What Is an Atomic Box? . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48
Rationale for Using an Atomic Box . . . . . . . . . . . . . . . . . . . 7-48
How to Reuse Functions with an Atomic Box . . . . . . . . . . . 7-48
Example of Reusing a Timer Function Multiple Times . . . . 7-49

Add Descriptive Comments in a Chart . . . . . . . . . . . . . . . . . 7-54

Create Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
Change Note Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54
Change Note Font and Color . . . . . . . . . . . . . . . . . . . . . . . . 7-54
TeX Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-55

Define Data
8
Add Stateflow Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Add Data from the Stateflow Editor . . . . . . . . . . . . . . . . . . . 8-2
Add Data Through the Model Explorer . . . . . . . . . . . . . . . . . 8-3

Detect Unused Data in the Symbols Window . . . . . . . . . . . . . 8-4

Set Data Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

Stateflow Data Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
Set Properties in the Logging Section . . . . . . . . . . . . . . . . . 8-19
Set Properties in the Description Pane . . . . . . . . . . . . . . . . 8-20
Enter Expressions and Parameters for Data Properties . . . . 8-20

Share Data with Simulink and MATLAB Workspace . . . . . 8-23

Share Input Data with Simulink . . . . . . . . . . . . . . . . . . . . . 8-23
Share Output Data with Simulink . . . . . . . . . . . . . . . . . . . 8-23
Share Simulink Parameters with Charts . . . . . . . . . . . . . . . 8-24

xiii
 Initialize Data from the MATLAB Base Workspace . . . . . . . 8-25
Save Data to the MATLAB Workspace . . . . . . . . . . . . . . . . 8-26

About Data Stores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27

How Charts Work with Local and Global Data Stores . . . . 8-28

Access Data Store Memory from a Chart . . . . . . . . . . . . . . . 8-29

Bind a Stateflow Data Object to Data Store Memory . . . . . . 8-29
Use the Stateflow Editor to Bind a Data Object . . . . . . . . . . 8-29
Use the Model Explorer to Bind a Data Object . . . . . . . . . . 8-29
Resolve Data Store Bindings . . . . . . . . . . . . . . . . . . . . . . . . 8-30
Read and Write Global Data Programmatically . . . . . . . . . . 8-30

Diagnostics for Sharing Data Between Charts and Simulink

Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
Errors to Check For . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
When to Enable Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . 8-32
When to Disable Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . 8-32
How to Set Diagnostics for Shared Data . . . . . . . . . . . . . . . 8-32

Create a Global Data Store Across Multiple Models . . . . . . 8-34

Best Practices for Using Data Stores in Charts . . . . . . . . . . 8-35

When Binding to Data Stores in Charts . . . . . . . . . . . . . . . 8-35
When Enforcing Writes Before Reads in Unconnected Blocks 8-35

Type Stateflow Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36

What Is Data Type? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
Specify Data Type with the Property Inspector . . . . . . . . . . 8-36
Specify Data Type with the Data Type Assistant . . . . . . . . . 8-36
Built-In Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-39
Inherit Data Types from Simulink Objects . . . . . . . . . . . . . 8-40
Derive Data Types from Previously Defined Data . . . . . . . . 8-40
Type Data by Using an Alias . . . . . . . . . . . . . . . . . . . . . . . 8-41
Strong Data Typing with Simulink I/O . . . . . . . . . . . . . . . . 8-42

Size Stateflow Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44

Methods for Sizing Stateflow Data . . . . . . . . . . . . . . . . . . . 8-44
How to Specify Data Size . . . . . . . . . . . . . . . . . . . . . . . . . . 8-45
Inherit Input or Output Size from Simulink Signals . . . . . . 8-45
Guidelines for Sizing Data with Numeric Values . . . . . . . . . 8-45
Guidelines for Sizing Data with MATLAB Expressions . . . . 8-46

xiv Contents
 Examples of Valid Data Size Expressions . . . . . . . . . . . . . . 8-47
Name Conflict Resolution for Variables in Size Expressions . 8-47
Best Practices for Sizing Stateflow Data . . . . . . . . . . . . . . . 8-47

Handle Integer Overflow for Chart Data . . . . . . . . . . . . . . . 8-49

When Integer Overflow Can Occur . . . . . . . . . . . . . . . . . . . 8-49
Support for Handling Integer Overflow in Charts . . . . . . . . 8-49
Effect of Integer Promotion Rules on Saturation . . . . . . . . . 8-51
Impact of Saturation on Error Checks . . . . . . . . . . . . . . . . . 8-52

Define Temporary Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-53

When to Define Temporary Data . . . . . . . . . . . . . . . . . . . . . 8-53
How to Define Temporary Data . . . . . . . . . . . . . . . . . . . . . 8-53

Identify Data Using Dot Notation . . . . . . . . . . . . . . . . . . . . . 8-54

What Is Dot Notation? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-54
Resolution of Qualified Data Names with Dot Notation . . . . 8-55
Best Practices for Using Dot Notation in Qualified Data
Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-56

Resolve Data Properties from Simulink Signal Objects . . . 8-59

About Explicit Signal Resolution . . . . . . . . . . . . . . . . . . . . . 8-59
Inherited Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-59
Enable Signal Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . 8-60
A Simple Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-60

Best Practices for Using Data in Charts . . . . . . . . . . . . . . . . 8-63

Avoid inheriting output data properties from Simulink
blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-63
Restrict use of machine-parented data . . . . . . . . . . . . . . . . 8-63

Transfer Data Across Models . . . . . . . . . . . . . . . . . . . . . . . . . 8-65

Copy Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-65
Move Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-65

Define Events
9
How Events Work in Stateflow Charts . . . . . . . . . . . . . . . . . . 9-2
What Is an Event? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

xv
 When to Use Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Types of Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
Where You Can Use Events . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
Diagnostic for Detecting Unused Events . . . . . . . . . . . . . . . . 9-3

Define Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

Add Events with the Stateflow Editor . . . . . . . . . . . . . . . . . . 9-5
Add Events with the Model Explorer . . . . . . . . . . . . . . . . . . 9-5

Set Properties for an Event . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Access Event Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Property Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Activate a Stateflow Chart Using Input Events . . . . . . . . . . . 9-9

What Is an Input Event? . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Activate a Stateflow Chart Using Edge Triggers . . . . . . . . . . 9-9
Activate a Stateflow Chart Using Function Calls . . . . . . . . 9-10
Association of Input Events with Control Signals . . . . . . . . 9-11

Control States When Function-Call Inputs Reenable

Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
Set Behavior for a Reenabled Chart . . . . . . . . . . . . . . . . . . 9-13
Behavior When the Parent Is the Model Root . . . . . . . . . . . 9-13
Behavior When the Chart Is Inside a Model Block . . . . . . . 9-17

Activate a Simulink Block Using Output Events . . . . . . . . . 9-20

What Is an Output Event? . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
Activate a Simulink Block Using Edge Triggers . . . . . . . . . 9-20
Activate a Simulink Block Using Function Calls . . . . . . . . . 9-28
Association of Output Events with Output Ports . . . . . . . . . 9-31
Access Simulink Subsystems Triggered By Output Events . 9-32

Control Chart Execution Using Implicit Events . . . . . . . . . 9-33

What Are Implicit Events? . . . . . . . . . . . . . . . . . . . . . . . . . 9-33
Keywords for Implicit Events . . . . . . . . . . . . . . . . . . . . . . . 9-33
Transition Between States Using Implicit Events . . . . . . . . 9-34
Execution Order of Transitions with Implicit Events . . . . . . 9-35

Count Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-38

When to Count Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-38
How to Count Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-38
Collect and Store Input Data in a Vector . . . . . . . . . . . . . . 9-38

xvi Contents
 Best Practices for Using Events in Stateflow Charts . . . . . 9-40

Messages
10
How Messages Work in Stateflow Charts . . . . . . . . . . . . . . . 10-2

View Differences Between Stateflow Messages, Events, and

Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

Stateflow Message Syntax in Charts . . . . . . . . . . . . . . . . . . 10-11

Access the Data in a Message . . . . . . . . . . . . . . . . . . . . . . 10-11
Send a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
Guard a Transition or Action with a Message . . . . . . . . . . 10-12
Receive a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14
Discard a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
Forward a Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
Determine if a Message Is Valid . . . . . . . . . . . . . . . . . . . . 10-18
Check the Length of the Queue . . . . . . . . . . . . . . . . . . . . . 10-19

Queuing Behavior of Stateflow Messages . . . . . . . . . . . . . . 10-21

Lifetime of a Stateflow Message . . . . . . . . . . . . . . . . . . . . . 10-23

Limitations for Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-24

Define Messages in a Stateflow Chart . . . . . . . . . . . . . . . . . 10-25

Types of Messages in a Chart . . . . . . . . . . . . . . . . . . . . . . 10-25
Define Message Inputs and Outputs . . . . . . . . . . . . . . . . . 10-25

Set Message Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-27

Work with Message Viewer . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

Visualize Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-31
Redisplay of Information in Message Viewer . . . . . . . . . . . 10-37
Time in Message Viewers . . . . . . . . . . . . . . . . . . . . . . . . . 10-37
Navigation in Message Viewers . . . . . . . . . . . . . . . . . . . . . 10-38
Function Calls in Message Viewer . . . . . . . . . . . . . . . . . . . 10-39

xvii
 Use Actions in Charts
11
State Action Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
Entry Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
Exit Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
During Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
Bind Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
On Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6

Transition Action Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8

Event or Message Triggers . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
Condition Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
Transition Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11

Execution of Actions in States and Transitions . . . . . . . . . 11-12

Combine State Actions to Eliminate Redundant Code . . . 11-16

State Actions You Can Combine . . . . . . . . . . . . . . . . . . . . 11-16
Why Combine State Actions . . . . . . . . . . . . . . . . . . . . . . . 11-16
How to Combine State Actions . . . . . . . . . . . . . . . . . . . . . 11-16
Order of Execution of Combined Actions . . . . . . . . . . . . . . 11-17
Rules for Combining State Actions . . . . . . . . . . . . . . . . . . 11-18

Supported Operations on Chart Data . . . . . . . . . . . . . . . . . 11-19

Binary and Bitwise Operations . . . . . . . . . . . . . . . . . . . . . 11-19
Unary Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
Unary Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
Assignment Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
Pointer and Address Operations . . . . . . . . . . . . . . . . . . . . 11-23
Type Cast Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-24
Replace Operators with Application Implementations . . . . 11-25

Supported Symbols in Actions . . . . . . . . . . . . . . . . . . . . . . . 11-27

Boolean Symbols, true and false . . . . . . . . . . . . . . . . . . . . 11-27
Comment Symbols, %, //, /* . . . . . . . . . . . . . . . . . . . . . . . . 11-28
Hexadecimal Notation Symbols, 0xFF . . . . . . . . . . . . . . . . 11-28
Infinity Symbol, inf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
Line Continuation Symbol, ... . . . . . . . . . . . . . . . . . . . . . . 11-29
Literal Code Symbol, $ . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
MATLAB Display Symbol, ; . . . . . . . . . . . . . . . . . . . . . . . . 11-29
Single-Precision Floating-Point Number Symbol, F . . . . . . 11-29

xviii Contents
 Time Symbol, t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29

Call C Functions in C Charts . . . . . . . . . . . . . . . . . . . . . . . . 11-31

Call C Library Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
Call the abs Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
Call min and max Functions . . . . . . . . . . . . . . . . . . . . . . . 11-32
Replacement of Math Library Functions with Application
Implementations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
Call Custom C Code Functions . . . . . . . . . . . . . . . . . . . . . 11-33

Access Built-In MATLAB Functions and Workspace Data 11-38

Call MATLAB Functions in Stateflow . . . . . . . . . . . . . . . . 11-38
ml Namespace Operator . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
ml Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-39
ml Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Which ml Should I Use? . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
ml Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-43
How Charts Infer the Return Size for ml Expressions . . . . 11-45

Use Arrays in Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-50

Array Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-50
Arrays and Custom Code . . . . . . . . . . . . . . . . . . . . . . . . . 11-50

Broadcast Events to Synchronize States . . . . . . . . . . . . . . 11-52

Directed Event Broadcasting . . . . . . . . . . . . . . . . . . . . . . . 11-52
Directed Local Event Broadcast Using send . . . . . . . . . . . 11-52
Directed Local Event Broadcast Using Qualified Event
Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-53
Diagnostic for Detecting Undirected Local Event
Broadcasts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-55

Control Chart Execution Using Temporal Logic . . . . . . . . 11-56

What Is Temporal Logic? . . . . . . . . . . . . . . . . . . . . . . . . . . 11-56
Rules for Using Temporal Logic Operators . . . . . . . . . . . . 11-56
Operators for Event-Based Temporal Logic . . . . . . . . . . . . 11-57
Examples of Event-Based Temporal Logic . . . . . . . . . . . . . 11-59
Notations for Event-Based Temporal Logic . . . . . . . . . . . . 11-61
Operators for Absolute-Time Temporal Logic . . . . . . . . . . . 11-63
Define Time Delays with Temporal Logic . . . . . . . . . . . . . 11-64
Examples of Absolute-Time Temporal Logic . . . . . . . . . . . 11-66
Run a Model That Uses Absolute-Time Temporal Logic . . . 11-67
Absolute-Time Temporal Logic in Conditionally Executed
Subsystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-67

xix
 How Sample Time Affects Chart Execution . . . . . . . . . . . . 11-70
Best Practices for Absolute-Time Temporal Logic . . . . . . . 11-71

Detect Changes in Data Values . . . . . . . . . . . . . . . . . . . . . . 11-74

Types of Data Value Changes That You Can Detect . . . . . 11-74
Run a Model That Uses Change Detection . . . . . . . . . . . . 11-75
How Change Detection Works . . . . . . . . . . . . . . . . . . . . . . 11-76
Change Detection Operators . . . . . . . . . . . . . . . . . . . . . . . 11-79
Chart with Change Detection . . . . . . . . . . . . . . . . . . . . . . 11-84

Check State Activity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-86

When to Check State Activity . . . . . . . . . . . . . . . . . . . . . . 11-86
How to Check State Activity . . . . . . . . . . . . . . . . . . . . . . . 11-86
The in Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-86
How Checking State Activity Works . . . . . . . . . . . . . . . . . 11-87
State Resolution for Identically Named Substates . . . . . . . 11-89
Best Practices for Checking State Activity . . . . . . . . . . . . . 11-91

Control Function-Call Subsystems Using Bind Actions . . 11-95

What Are Bind Actions? . . . . . . . . . . . . . . . . . . . . . . . . . . 11-95
Bind a Function-Call Subsystem to a State . . . . . . . . . . . . 11-95
Model That Binds a Function-Call Subsystem to a State . 11-100
Behavior of a Bound Function-Call Subsystem . . . . . . . . 11-103
Why Avoid Muxed Trigger Events with Binding . . . . . . . 11-110

Simplify Stateflow Chart Using the duration Operator . 11-113

Control Oscillation with Parallel State Logic . . . . . . . . . . 11-113
Control Oscillation with the duration Operator . . . . . . . . 11-114

MATLAB Syntax Support for States and Transitions

12
Modify the Action Language for a Chart . . . . . . . . . . . . . . . 12-2
Icons for Action Language Syntax . . . . . . . . . . . . . . . . . . . . 12-2
Change the Default Action Language . . . . . . . . . . . . . . . . . 12-2
C to MATLAB Syntax Conversion . . . . . . . . . . . . . . . . . . . . 12-3
Rules for Using MATLAB as the Action Language . . . . . . . 12-3

Action Language Auto Correction . . . . . . . . . . . . . . . . . . . . . 12-6

xx Contents
 Differences Between MATLAB and C as Action Language
Syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7

Model Event-Driven System . . . . . . . . . . . . . . . . . . . . . . . . . 12-10

Typical Approaches to Chart Programming . . . . . . . . . . . . 12-10
Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10
Identify System Attributes . . . . . . . . . . . . . . . . . . . . . . . . 12-11
Build the Model Yourself or Use the Supplied Model . . . . . 12-12
Add a Stateflow Chart to the Feeder Model . . . . . . . . . . . . 12-12
Add States to Represent Operating Modes . . . . . . . . . . . . 12-15
Implement State Actions . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16
Specify Transition Conditions . . . . . . . . . . . . . . . . . . . . . . 12-18
Define Data for Your System . . . . . . . . . . . . . . . . . . . . . . 12-21
Verify the System Representation . . . . . . . . . . . . . . . . . . . 12-23
Alternative Approach: Event-Based Chart . . . . . . . . . . . . . 12-25
Feeder Chart Activated by Input Events . . . . . . . . . . . . . . 12-25

Tabular Expression of Modal Logic

13
What Is a State Transition Table? . . . . . . . . . . . . . . . . . . . . . 13-2

Differences Between State Transition Tables and Charts . 13-5

Anatomy of a State Transition Table . . . . . . . . . . . . . . . . . . 13-6

Create State Transition Table and Specify Properties . . . . 13-8

How to Create a New State Transition Table . . . . . . . . . . . 13-8
Properties for State Transition Tables . . . . . . . . . . . . . . . . . 13-8

Generate Diagrams from State Transition Tables . . . . . . . 13-10

View State Reactions with State Transition Matrix . . . . . 13-11

What is a State Transition Matrix? . . . . . . . . . . . . . . . . . . 13-11
Create a State Transition Matrix . . . . . . . . . . . . . . . . . . . 13-11
Filter by State Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12
Traceability To State Transition Table . . . . . . . . . . . . . . . 13-13

Highlight Flow of Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-14

xxi
 State Transition Table Operations . . . . . . . . . . . . . . . . . . . 13-16
Insert Rows and Columns . . . . . . . . . . . . . . . . . . . . . . . . . 13-16
Move Rows and Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17
Copy Rows and Transition Cells . . . . . . . . . . . . . . . . . . . . 13-17
Set Default State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17
Add History Junction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17
Print State Transition Tables . . . . . . . . . . . . . . . . . . . . . . 13-17
Select and Clear Table Elements . . . . . . . . . . . . . . . . . . . . 13-18
Undo and Redo Edit Operations . . . . . . . . . . . . . . . . . . . . 13-18
Zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18

Rules for Using State Transition Tables . . . . . . . . . . . . . . . 13-19

State Transition Table Diagnostics . . . . . . . . . . . . . . . . . . . 13-20

Model Bang-Bang Controller with State Transition Table 13-21

Why Use State Transition Tables? . . . . . . . . . . . . . . . . . . 13-21
Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-22
Identify System Attributes . . . . . . . . . . . . . . . . . . . . . . . . 13-22
Build the Controller or Use the Supplied Model . . . . . . . . 13-23
Create a New State Transition Table . . . . . . . . . . . . . . . . 13-23
Add States and Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . 13-25
Specify State Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-26
Specify Transition Conditions and Actions . . . . . . . . . . . . 13-29
Define Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-31
Connect the Transition Table and Run the Model . . . . . . . 13-33
View the Graphical Representation . . . . . . . . . . . . . . . . . . 13-35

Debug Run-Time Errors in a State Transition Table . . . . . 13-37

Create the Model and the State Transition Table . . . . . . . 13-37
Debug the State Transition Table . . . . . . . . . . . . . . . . . . . 13-39
Correct the Run-Time Error . . . . . . . . . . . . . . . . . . . . . . . 13-40

Make States Reusable with Atomic Subcharts

14
What Is an Atomic Subchart? . . . . . . . . . . . . . . . . . . . . . . . . . 14-2

When to Use Atomic Subcharts . . . . . . . . . . . . . . . . . . . . . . . 14-4

xxii Contents
Benefits of Using Atomic Subcharts . . . . . . . . . . . . . . . . . . . 14-5
Comparison of Modeling Methods . . . . . . . . . . . . . . . . . . . . 14-5
Comparison of Simulation Methods . . . . . . . . . . . . . . . . . . . 14-6
Comparison of Editing Methods . . . . . . . . . . . . . . . . . . . . . 14-7
Comparison of Code Generation Methods . . . . . . . . . . . . . . 14-7

Restrictions for Converting to Atomic Subcharts . . . . . . . 14-11

Rationale for Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . 14-11
Access to Data, Graphical Functions, and Events . . . . . . . 14-11
Use of Event Broadcasts . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11
Access to Local Data with a Nonzero First Index . . . . . . . . 14-12
Use of Machine-Parented Data . . . . . . . . . . . . . . . . . . . . . 14-12
Use of Strong Data Typing with Simulink Inputs and
Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
Use of Supertransitions . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-12
Use of Masked Library Chart . . . . . . . . . . . . . . . . . . . . . . 14-12

Convert to and from Atomic Subcharts . . . . . . . . . . . . . . . 14-13

Convert a State or Subchart to an Atomic Subchart . . . . . 14-13
Convert an Atomic Subchart to a State or Subchart . . . . . 14-16
Restrictions for Converting an Atomic Subchart to a State or
Subchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-16

Map Variables for Atomic Subcharts . . . . . . . . . . . . . . . . . 14-18

How to Map Variables in an Atomic Subchart . . . . . . . . . . 14-18
Map Input and Output Data for an Atomic Subchart . . . . . 14-19
Map Data Store Memory for an Atomic Subchart . . . . . . . 14-22
Map Parameter Data for an Atomic Subchart . . . . . . . . . . 14-25
Map Input Events for an Atomic Subchart . . . . . . . . . . . . 14-29

Generate Reusable Code for Atomic Subcharts . . . . . . . . . 14-34

How to Generate Reusable Code for Linked Atomic
Subcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-34
How to Generate Reusable Code for Unlinked Atomic
Subcharts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-35

Rules for Using Atomic Subcharts . . . . . . . . . . . . . . . . . . . . 14-36

Reuse a State Multiple Times in a Chart . . . . . . . . . . . . . . 14-39

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-39
Edit a Model to Use Atomic Subcharts . . . . . . . . . . . . . . . 14-41
Run the New Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-46
Propagate a Change in the Library Chart . . . . . . . . . . . . . 14-46

xxiii
 Reduce the Compilation Time of a Chart . . . . . . . . . . . . . . 14-48
Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-48
Edit a Model to Use Atomic Subcharts . . . . . . . . . . . . . . . 14-49

Divide a Chart into Separate Units . . . . . . . . . . . . . . . . . . . 14-50

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-50
Edit a Model to Use Atomic Subcharts . . . . . . . . . . . . . . . 14-51

Generate Reusable Code for Unit Testing . . . . . . . . . . . . . 14-53

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-53
Convert a State to an Atomic Subchart . . . . . . . . . . . . . . . 14-54
Specify Code Generation Parameters . . . . . . . . . . . . . . . . . 14-55
Generate Code for Only the Atomic Subchart . . . . . . . . . . 14-56

Save and Restore Simulations with SimState

15
What Is a SimState? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2

Benefits of Using a Snapshot of the Simulation State . . . . . 15-4

Division of a Long Simulation into Segments . . . . . . . . . . . 15-4
Test of a Chart Response to Different Settings . . . . . . . . . . 15-4

Divide a Long Simulation into Segments . . . . . . . . . . . . . . . 15-5

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5
Define the SimState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-6
Load the SimState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-7
Simulate the Specific Segment . . . . . . . . . . . . . . . . . . . . . . 15-8

Test a Unique Chart Configuration . . . . . . . . . . . . . . . . . . . 15-10

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-10
Define the SimState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-11
Load the SimState and Modify Values . . . . . . . . . . . . . . . 15-14
Test the Modified SimState . . . . . . . . . . . . . . . . . . . . . . . . 15-18

Test a Chart with Fault Detection and Redundant Logic . 15-20

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-20
Define the SimState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-23
Modify SimState Values for One Actuator Failure . . . . . . . 15-24
Test the SimState for One Failure . . . . . . . . . . . . . . . . . . 15-28

xxiv Contents
 Modify SimState Values for Two Actuator Failures . . . . . . 15-31
Test the SimState for Two Failures . . . . . . . . . . . . . . . . . . 15-32

Methods for Interacting with the SimState of a Chart . . . 15-34

Rules for Using the SimState of a Chart . . . . . . . . . . . . . . . 15-37

Limitations on Values You Can Modify . . . . . . . . . . . . . . . 15-37
Rules for Modifying Data Values . . . . . . . . . . . . . . . . . . . . 15-37
Rules for Modifying State Activity . . . . . . . . . . . . . . . . . . . 15-38
Restriction on Continuous-Time Charts . . . . . . . . . . . . . . . 15-38
No Partial Loading of a SimState . . . . . . . . . . . . . . . . . . . 15-38
Restriction on Copying SimState Values . . . . . . . . . . . . . . 15-39
SimState Limitations That Apply to All Blocks in a Model . 15-39

Best Practices for Using the SimState of a Chart . . . . . . . 15-40

Use MAT-Files to Save a SimState for Future Use . . . . . . 15-40
Use Scripts to Save SimState Commands for Future Use . . 15-40

Vectors and Matrices in C Charts

16
How Vectors and Matrices Work in C Charts . . . . . . . . . . . . 16-2
When to Use Vectors and Matrices . . . . . . . . . . . . . . . . . . . 16-2
Where You Can Use Vectors and Matrices . . . . . . . . . . . . . 16-2

Define Vectors and Matrices . . . . . . . . . . . . . . . . . . . . . . . . . 16-4

Define a Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4
Define a Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4

Scalar Expansion for Converting Scalars to Nonscalars . . 16-6

What Is Scalar Expansion? . . . . . . . . . . . . . . . . . . . . . . . . . 16-6
How Scalar Expansion Works for Functions . . . . . . . . . . . . 16-6

Assign and Access Vector and Matrix Values . . . . . . . . . . . . 16-8

Notation for Vectors and Matrices . . . . . . . . . . . . . . . . . . . . 16-8
Assign and Access Values of Vectors . . . . . . . . . . . . . . . . . . 16-8
Assign and Access Values of Matrices . . . . . . . . . . . . . . . . . 16-9
Assign Values of a Vector or Matrix Using Scalar
Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-9

xxv
 Operations For Vectors and Matrices in C Charts . . . . . . . 16-11
Binary Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-11
Unary Operations and Actions . . . . . . . . . . . . . . . . . . . . . 16-11
Assignment Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-12

Rules for Vectors and Matrices in C Charts . . . . . . . . . . . . 16-13

Best Practices for Vectors and Matrices in C Charts . . . . 16-14

Perform Matrix Multiplication and Division Using MATLAB
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-14
Index a Vector Using the temporalCount Operator . . . . . . 16-15

Find Pattern in Data Transmission Using Vectors . . . . . . 16-17

Storage of Complex Data in a Vector . . . . . . . . . . . . . . . . . 16-18
Scalar Expansion of a Vector . . . . . . . . . . . . . . . . . . . . . . . 16-18

Calculate Motion Using Matrices . . . . . . . . . . . . . . . . . . . . . 16-19

How the Model Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-19
Storage of Two-Dimensional Data in Matrices . . . . . . . . . . 16-19
Calculation of Two-Dimensional Dynamics of Each Ball . . 16-20
Run the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-22

Variable-Size Data in Stateflow Charts

17
What Is Variable-Size Data? . . . . . . . . . . . . . . . . . . . . . . . . . . 17-2

How Charts Implement Variable-Size Data . . . . . . . . . . . . . 17-3

Enable Support for Variable-Size Data . . . . . . . . . . . . . . . . . 17-4

Declare Variable-Size Inputs and Outputs . . . . . . . . . . . . . . 17-5

Compute Output Based on Size of Input Signal . . . . . . . . . 17-7

About the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-7
Chart: VarSizeSignalSource . . . . . . . . . . . . . . . . . . . . . . . . 17-8
Chart: size_based_processing . . . . . . . . . . . . . . . . . . . . . . . 17-11
Simulate the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-15

Rules for Using Variable-Size Data in Stateflow Charts . . 17-16

xxvi Contents
 Enumerated Data in Charts
18
What Is Enumerated Data? . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-2

Benefits of Using Enumerated Data in a Chart . . . . . . . . . . 18-3

Where to Use Enumerated Data . . . . . . . . . . . . . . . . . . . . . . 18-4

Elements of an Enumerated Data Type Definition . . . . . . . 18-5

Define Enumerated Data in a Chart . . . . . . . . . . . . . . . . . . . 18-8

Tasks for Defining Enumerated Data in a Chart . . . . . . . . . 18-8
Define an Enumerated Data Type in a File . . . . . . . . . . . . . 18-8
Add Enumerated Data to a Chart . . . . . . . . . . . . . . . . . . . . 18-9

Ensure That Changes in Data Type Definition Take Effect 18-11

Notation for Enumerated Values in Charts . . . . . . . . . . . . 18-12

Nonprefixed Notation for Enumerated Values . . . . . . . . . . 18-12
Prefixed Notation for Enumerated Values . . . . . . . . . . . . . 18-12

Enumerated Data Operations in Charts . . . . . . . . . . . . . . . 18-14

Rules for Using Enumerated Data in a Chart . . . . . . . . . . 18-15

Best Practices for Using Enumerated Data in a Chart . . . 18-18

Model CD Player Using Enumerated Data . . . . . . . . . . . . . 18-20

Overview of CD Player Model . . . . . . . . . . . . . . . . . . . . . . 18-20
Benefits of Using Enumerated Types in This Model . . . . . . 18-22
Run the CD Player Model . . . . . . . . . . . . . . . . . . . . . . . . . 18-22
How the UserRequest Chart Works . . . . . . . . . . . . . . . . . . 18-25
How the CdPlayerModeManager Chart Works . . . . . . . . . 18-25
How the CdPlayerBehaviorModel Chart Works . . . . . . . . . 18-29

Assign Enumerated Values in a Chart . . . . . . . . . . . . . . . . 18-32

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-32
Build the Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-32
View Results for Simulation . . . . . . . . . . . . . . . . . . . . . . . 18-35
How the Chart Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-38

xxvii
 Continuous-Time Systems in Stateflow Charts
19
Continuous-Time Modeling in Stateflow . . . . . . . . . . . . . . . 19-2
What Is Continuous-Time Modeling? . . . . . . . . . . . . . . . . . . 19-2
When to Use Stateflow Charts for Continuous-Time
Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-3
Model Continuous-Time with Zero-Crossing Detection . . . . . 19-3
When to Disable Zero-Crossing Detection . . . . . . . . . . . . . . 19-4

Model Hybrid Systems with Model Logic . . . . . . . . . . . . . . . 19-5

Configure a Stateflow Chart to Update in Continuous

Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-6

Define Continuous-Time Variables . . . . . . . . . . . . . . . . . . . . 19-9

Purpose of Continuous-Time Variables . . . . . . . . . . . . . . . . 19-9
Implicit Time Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . 19-9
Rules for Using Continuous-Time Variables . . . . . . . . . . . . 19-9
How to Define Continuous-Time Variables . . . . . . . . . . . . 19-10
Expose Continuous States to a Simulink Model . . . . . . . . . 19-10

Model a Bouncing Ball in Continuous Time . . . . . . . . . . . . 19-11

Dynamics of a Bouncing Ball . . . . . . . . . . . . . . . . . . . . . . . 19-11
Model the Bouncing Ball . . . . . . . . . . . . . . . . . . . . . . . . . . 19-12

Design Considerations for Continuous-Time Modeling in

Stateflow Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-22
Rationale for Design Considerations . . . . . . . . . . . . . . . . . 19-22
Summary of Rules for Continuous-Time Modeling . . . . . . . 19-22

Fixed-Point Data in Stateflow Charts

20
What Is Fixed-Point Data? . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
Fixed-Point Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
Fixed-Point Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-3

xxviii Contents
 How Fixed-Point Data Works in Stateflow Charts . . . . . . . 20-5
How Stateflow Software Defines Fixed-Point Data . . . . . . . 20-5
Specify Fixed-Point Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-6
Rules for Specifying Fixed-Point Word Length . . . . . . . . . . 20-7
Fixed-Point Context-Sensitive Constants . . . . . . . . . . . . . . . 20-7
Tips for Using Fixed-Point Data . . . . . . . . . . . . . . . . . . . . . 20-8
Detect Overflow for Fixed-Point Types . . . . . . . . . . . . . . . 20-10
Share Fixed-Point Data with Simulink Models . . . . . . . . . 20-10

Use Fixed-Point Chart Inputs . . . . . . . . . . . . . . . . . . . . . . . 20-12

Run the Fixed-Point "Bang-Bang Control" Model . . . . . . . 20-12
Explore the Fixed-Point "Bang-Bang Control" Model . . . . . 20-13

Use Fixed-Point Parameters and Local Data . . . . . . . . . . . 20-17

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-17
Build the Fixed-Point Butterworth Filter . . . . . . . . . . . . . 20-17
Define the Model Callback Function . . . . . . . . . . . . . . . . . 20-18
Add Other Blocks to the Model . . . . . . . . . . . . . . . . . . . . . 20-19
Set Model Configuration Parameters . . . . . . . . . . . . . . . . . 20-21
Run the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-21

Operations with Fixed-Point Data . . . . . . . . . . . . . . . . . . . . 20-23

Supported Operations with Fixed-Point Operands . . . . . . . 20-23
Promotion Rules for Fixed-Point Operations . . . . . . . . . . . 20-25
Assignment (=, :=) Operations . . . . . . . . . . . . . . . . . . . . . . 20-30
Fixed-Point Conversion Operations . . . . . . . . . . . . . . . . . . 20-37
Automatic Scaling of Stateflow Fixed-Point Data . . . . . . . 20-38

Complex Data in C Charts

21
How Complex Data Works in C Charts . . . . . . . . . . . . . . . . . 21-2
What Is Complex Data? . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-2
When to Use Complex Data . . . . . . . . . . . . . . . . . . . . . . . . 21-2
Where You Can Use Complex Data . . . . . . . . . . . . . . . . . . . 21-2
How You Can Use Complex Data . . . . . . . . . . . . . . . . . . . . 21-3

Define Complex Data Using the Editor . . . . . . . . . . . . . . . . . 21-4

xxix
 Complex Data Operations for Charts That Support C
Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-7
Binary Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-7
Unary Operations and Actions . . . . . . . . . . . . . . . . . . . . . . 21-7
Assignment Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-8

Define Complex Data Using Operators . . . . . . . . . . . . . . . . . 21-9

Why Use Operators for Complex Numbers? . . . . . . . . . . . . . 21-9
Define a Complex Number . . . . . . . . . . . . . . . . . . . . . . . . . 21-9
Access Real and Imaginary Parts of a Complex Number . . . 21-9
Work with Vector Arguments . . . . . . . . . . . . . . . . . . . . . . 21-11

Rules for Using Complex Data in C Charts . . . . . . . . . . . . 21-12

Best Practices for Using Complex Data in C Charts . . . . . 21-15

Perform Math Function Operations with a MATLAB
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-15
Perform Complex Division with a MATLAB Function . . . . 21-16

Detect Valid Transmission Data Using Frame

Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-19

Measure Frequency Response Using a Spectrum Analyzer 21-23

Define Interfaces to Simulink Models and the

MATLAB Workspace
22
Overview of Stateflow Block Interfaces . . . . . . . . . . . . . . . . 22-2
Stateflow Block Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . 22-2

Specify Chart Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-3

About Chart Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-3
Set Properties for a Single Chart . . . . . . . . . . . . . . . . . . . . 22-3
Set Properties for All Charts in the Model . . . . . . . . . . . . . 22-10

Set Stateflow Block Update Method . . . . . . . . . . . . . . . . . . 22-12

Implement Interfaces to Simulink Models . . . . . . . . . . . . . 22-14

Define a Triggered Stateflow Block . . . . . . . . . . . . . . . . . . 22-14

xxx Contents
 Define a Sampled Stateflow Block . . . . . . . . . . . . . . . . . . . 22-15
Define an Inherited Stateflow Block . . . . . . . . . . . . . . . . . 22-15
Define a Continuous Stateflow Block . . . . . . . . . . . . . . . . . 22-16
Define Function-Call Output Events . . . . . . . . . . . . . . . . . 22-16
Define Edge-Triggered Output Events . . . . . . . . . . . . . . . . 22-17

When to Use Chart Libraries . . . . . . . . . . . . . . . . . . . . . . . . 22-18

Create Specialized Chart Libraries for Large-Scale

Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-19

Properties You Can Specialize Across Instances of Library

Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-20

Limitations of Library Charts . . . . . . . . . . . . . . . . . . . . . . . 22-21

MATLAB Workspace Interfaces . . . . . . . . . . . . . . . . . . . . . . 22-22

About the MATLAB Workspace . . . . . . . . . . . . . . . . . . . . . 22-22
Examine the MATLAB Workspace . . . . . . . . . . . . . . . . . . 22-22
Interface the MATLAB Workspace with Charts . . . . . . . . . 22-22

About Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-23

Mask Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-24

Look Under a Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-26

Mask a Stateflow Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-27

Create Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-27
Change the Icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-27
Add a Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-27
View the New Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-28
Edit the Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-29

About Active State Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-30

State Activity Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-30
Active State Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-30
Leaf State Activity and Parallel States . . . . . . . . . . . . . . . 22-31

When to Use Active State Output Data . . . . . . . . . . . . . . . . 22-34

Set Active State Data as Local . . . . . . . . . . . . . . . . . . . . . . . 22-35

xxxi
 Limitations for Active State Data . . . . . . . . . . . . . . . . . . . . 22-36

Use Active State Output Data . . . . . . . . . . . . . . . . . . . . . . . 22-37

Change the Active State Port Name . . . . . . . . . . . . . . . . . . 22-40

Define State Activity Enum Name and Type . . . . . . . . . . . 22-41

Units in Stateflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-43

Units for Input and Output Data . . . . . . . . . . . . . . . . . . . 22-43
Consistency Checking . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-43
Units for Stateflow Limitations . . . . . . . . . . . . . . . . . . . . . 22-43

Structures and Bus Signals in Stateflow Charts

23
About Stateflow Structures . . . . . . . . . . . . . . . . . . . . . . . . . . 23-2
What Is a Stateflow Structure? . . . . . . . . . . . . . . . . . . . . . . 23-2
What You Can Do with Structures . . . . . . . . . . . . . . . . . . . 23-2

Connect Structures in Charts to External Bus Signals . . . . 23-3

Structure Definitions in sfbus_demo Stateflow Chart . . . . . 23-4
Structure Definitions in sfbus_demo Stateflow Graphical
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-4
Simulink Bus Objects Define Stateflow Structures . . . . . . . 23-5

Rules for Defining Structure Data Types in Charts . . . . . . 23-8

Define Stateflow Structures . . . . . . . . . . . . . . . . . . . . . . . . . . 23-9

Define Structure Inputs and Outputs . . . . . . . . . . . . . . . . . 23-9
Define Local Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-12
Define Structures of Parameter Scope . . . . . . . . . . . . . . . . 23-13
Define Temporary Structures . . . . . . . . . . . . . . . . . . . . . . 23-14
Define Structure Types with Expressions . . . . . . . . . . . . . 23-15

Structure Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-17

Index Sub-Structures and Fields . . . . . . . . . . . . . . . . . . . . 23-17
Guidelines for Assignment of Values . . . . . . . . . . . . . . . . . 23-19
Get Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-20

xxxii Contents
 Integrate Custom Structures in Stateflow Charts . . . . . . . 23-22

Debug Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-26

Stateflow Design Patterns

24
Debounce Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
Why Debounce Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
The Debouncer Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
Key Behaviors of Debouncer Chart . . . . . . . . . . . . . . . . . . . 24-3
Run the Debouncer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-5

Schedule Function Calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-8

Schedule Execution of Simulink Subsystems . . . . . . . . . . . . 24-9

When to Implement Schedulers . . . . . . . . . . . . . . . . . . . . . . 24-9
Types of Schedulers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-9

Schedule Multiple Subsystems in a Single Step . . . . . . . . . 24-10

Key Behaviors of Ladder Logic Scheduler . . . . . . . . . . . . . 24-11
Run the Ladder Logic Scheduler . . . . . . . . . . . . . . . . . . . . 24-12

Schedule One Subsystem in a Single Step . . . . . . . . . . . . . 24-14

Key Behaviors of Loop Scheduler . . . . . . . . . . . . . . . . . . . 24-15
Run the Loop Scheduler . . . . . . . . . . . . . . . . . . . . . . . . . . 24-15

Schedule Subsystems to Execute at Specific Times . . . . . . 24-17

Key Behaviors of Temporal Logic Scheduler . . . . . . . . . . . 24-18
Run the Temporal Logic Scheduler . . . . . . . . . . . . . . . . . . 24-18

Implement Dynamic Test Vectors . . . . . . . . . . . . . . . . . . . . 24-20

When to Implement Test Vectors . . . . . . . . . . . . . . . . . . . 24-20
A Dynamic Test Vector Chart . . . . . . . . . . . . . . . . . . . . . . 24-22
Key Behaviors of the Chart and Model . . . . . . . . . . . . . . . 24-24
Run the Model with Stateflow Test Vectors . . . . . . . . . . . . 24-26

Map Fault Conditions to Actions in Truth Tables . . . . . . . 24-29

xxxiii
 Design for Isolation and Recovery in a Chart . . . . . . . . . . 24-32
Mode Logic for the Elevator Actuators . . . . . . . . . . . . . . . 24-32
States for Failure and Isolation . . . . . . . . . . . . . . . . . . . . . 24-33
Transitions for Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . 24-34

Truth Table Functions for Decision-Making Logic

25
What Is a Truth Table? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-2
Where to Use a Truth Table . . . . . . . . . . . . . . . . . . . . . . . . 25-3

Language Options for Stateflow Truth Tables . . . . . . . . . . . 25-4

C Truth Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-4
MATLAB Truth Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-4
Select a Language for Stateflow Truth Tables . . . . . . . . . . . 25-5
Migration from C to MATLAB Truth Tables . . . . . . . . . . . . 25-5

Represent Combinatorial Logic Using Truth Tables . . . . . . 25-6

Build Model with Stateflow Truth Table . . . . . . . . . . . . . . . 25-7

Add a Stateflow Block that Calls a Truth Table Function . . 25-7

Program a Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-19

Open a Truth Table for Editing . . . . . . . . . . . . . . . . . . . . . 25-19
Select an Action Language . . . . . . . . . . . . . . . . . . . . . . . . 25-21
Enter Truth Table Conditions . . . . . . . . . . . . . . . . . . . . . . 25-21
Enter Truth Table Decisions . . . . . . . . . . . . . . . . . . . . . . . 25-23
Enter Truth Table Actions . . . . . . . . . . . . . . . . . . . . . . . . 25-26
Assign Truth Table Actions to Decisions . . . . . . . . . . . . . . 25-36
Add Initial and Final Actions . . . . . . . . . . . . . . . . . . . . . . 25-41

Debug a Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-44

Check Truth Tables for Errors . . . . . . . . . . . . . . . . . . . . . 25-44
Debug a Truth Table During Simulation . . . . . . . . . . . . . . 25-44

Correct Overspecified and Underspecified Truth Tables . 25-60

Example of an Overspecified Truth Table . . . . . . . . . . . . . 25-60
Example of an Underspecified Truth Table . . . . . . . . . . . . 25-64

xxxiv Contents
 How Stateflow Generates Content for Truth Tables . . . . . 25-69
Types of Generated Content . . . . . . . . . . . . . . . . . . . . . . . 25-69
View Generated Content . . . . . . . . . . . . . . . . . . . . . . . . . . 25-69
How Stateflow Software Generates Graphical Functions for
Truth Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-69
How Stateflow Software Generates MATLAB Code for Truth
Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-73

Truth Table Editor Operations . . . . . . . . . . . . . . . . . . . . . . 25-76

Add or Modify Stateflow Data . . . . . . . . . . . . . . . . . . . . . . 25-76
Append Rows and Columns . . . . . . . . . . . . . . . . . . . . . . . . 25-76
Compact the Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-76
Delete Text, Rows, and Columns . . . . . . . . . . . . . . . . . . . . 25-77
Diagnose the Truth Table . . . . . . . . . . . . . . . . . . . . . . . . . 25-77
View Generated Content . . . . . . . . . . . . . . . . . . . . . . . . . . 25-77
Edit Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-77
Insert Rows and Columns . . . . . . . . . . . . . . . . . . . . . . . . . 25-78
Move Rows and Columns . . . . . . . . . . . . . . . . . . . . . . . . . 25-78
Print Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-78
Select and Deselect Table Elements . . . . . . . . . . . . . . . . . 25-79
Undo and Redo Edit Operations . . . . . . . . . . . . . . . . . . . . 25-79
View the Stateflow Chart for the Truth Table . . . . . . . . . . 25-79

MATLAB Functions in Stateflow Charts

26
MATLAB Functions in a Chart . . . . . . . . . . . . . . . . . . . . . . . 26-2

Why Use a MATLAB Function in a Chart? . . . . . . . . . . . . . . 26-3

Where to Use a MATLAB Function . . . . . . . . . . . . . . . . . . . . 26-4

MATLAB Functions in a Stateflow Chart . . . . . . . . . . . . . . . 26-5

Build Model with MATLAB Function in a Chart . . . . . . . . . 26-7

Specify MATLAB Function Properties in a Chart . . . . . . . 26-12

Set MATLAB Function Properties . . . . . . . . . . . . . . . . . . . 26-12

Program a MATLAB Function in a Chart . . . . . . . . . . . . . . 26-17

xxxv
 Debug a MATLAB Function in a Chart . . . . . . . . . . . . . . . . 26-20
Check MATLAB Functions for Syntax Errors . . . . . . . . . . 26-20
Run-Time Debugging for MATLAB Functions in Charts . . 26-21
Check for Data Range Violations . . . . . . . . . . . . . . . . . . . . 26-23

Connect Structures in MATLAB Functions to Bus Signals in

Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-24
About Structures in MATLAB Functions . . . . . . . . . . . . . . 26-24
Define Structures in MATLAB Functions . . . . . . . . . . . . . 26-24

Define Enumerated Data in MATLAB Functions . . . . . . . . 26-27

Declare Variable-Size Data in MATLAB Functions . . . . . . 26-28

Enhance Readability of Generated Code for MATLAB

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-29

Simulink Functions in Stateflow Charts

27
Simulink Functions in Stateflow . . . . . . . . . . . . . . . . . . . . . . 27-2
What Is a Simulink Function? . . . . . . . . . . . . . . . . . . . . . . 27-2
Where to Define a Simulink Function in a Chart . . . . . . . . . 27-2
Rules for Using Simulink Functions in Stateflow Charts . . . 27-3

Share Functions Across Simulink and Stateflow . . . . . . . . . 27-6

Why Use a Simulink Function in a Stateflow Chart? . . . . . 27-8

Advantages of Using Simulink Functions in a Stateflow
Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-8
Benefits of Using a Simulink Function to Access Simulink
Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-8
Benefits of Using a Simulink Function to Schedule Execution of
Multiple Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-11

Basic Approach to Defining Simulink Functions in Stateflow

Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-15
Task 1: Add a Function to the Chart . . . . . . . . . . . . . . . . . 27-15
Task 2: Define the Subsystem Elements of the Simulink
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-16

xxxvi Contents
 Task 3: Configure the Function Inputs . . . . . . . . . . . . . . . 27-16

How a Simulink Function Binds to a State . . . . . . . . . . . . 27-18

Bind Behavior of a Simulink Function . . . . . . . . . . . . . . . 27-18
Control Subsystem Variables When the Simulink Function Is
Disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-20
Example of Binding a Simulink Function to a State . . . . . 27-20

How a Simulink Function Behaves When Called from

Multiple Sites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-26

Define a Function That Uses Simulink Blocks . . . . . . . . . . 27-27

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-27
Edit a Model to Use a Simulink Function . . . . . . . . . . . . . 27-28
Run the New Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-35

Schedule Execution of Multiple Controllers . . . . . . . . . . . 27-36

Goal of the Tutorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-36
Edit a Model to Use Simulink Functions . . . . . . . . . . . . . . 27-37
Run the New Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27-43

Build Targets
28
Code Generation for Stateflow Blocks . . . . . . . . . . . . . . . . . 28-2
Code Generation for Rapid Prototyping and Production Code
Deployment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-2

Choose a Procedure to Simulate a Model . . . . . . . . . . . . . . . 28-3

Guidelines for Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . 28-3
Choose the Right Procedure for Simulation . . . . . . . . . . . . . 28-3

Integrate Custom C/C++ Code for Simulation . . . . . . . . . . . 28-5

Integrate Custom C++ Code for Simulation . . . . . . . . . . . . . 28-5
Integrate Custom C Code for Nonlibrary Charts for
Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-6
Integrate Custom C Code for Library Charts for Simulation 28-9
Integrate Custom C Code for All Charts for Simulation . . . 28-11
Call External Functions in Charts with MATLAB as the Action
Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-13

xxxvii
 Start Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-13

Speed Up Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-14

Performance of Model Update . . . . . . . . . . . . . . . . . . . . . . 28-14
Disable Simulation Target Options That Impact Execution
Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-14
Keep Charts Closed to Speed Up Simulation . . . . . . . . . . . 28-15
Keep Scope Blocks Closed to Speed Up Simulation . . . . . . 28-15
Use Library Charts in Your Model . . . . . . . . . . . . . . . . . . 28-15

Generate C/C++ Code for Rapid Prototyping or Production

Deployment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-16

Optimize Generated Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-17

Command-Line API to Set Simulation and Code Generation

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-18
How to Set Parameters at the Command Line . . . . . . . . . . 28-18
Simulation Parameters for Nonlibrary Models . . . . . . . . . . 28-19
Simulation Parameters for Library Models . . . . . . . . . . . . 28-21

Specify Relative Paths for Custom Code . . . . . . . . . . . . . . 28-23

Why Use Relative Paths? . . . . . . . . . . . . . . . . . . . . . . . . . 28-23
Search Relative Paths . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-23
Path Syntax Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-23

Share Data Using Custom C Code . . . . . . . . . . . . . . . . . . . . 28-25

Use Custom Code to Define Global Constants . . . . . . . . . . 28-25
Use Custom Code to Define Global Constants, Variables, and
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-27

Parse Stateflow Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28-31

How the Stateflow Parser Works . . . . . . . . . . . . . . . . . . . . 28-31
Calling the Stateflow Parser . . . . . . . . . . . . . . . . . . . . . . . 28-31

Resolve Undefined Symbols in Your Chart . . . . . . . . . . . . 28-32

Search for Undefined Symbols . . . . . . . . . . . . . . . . . . . . . . 28-32
Resolve Undefined Data in the Symbols Window . . . . . . . . 28-33
Define Chart Symbols with the Symbol Wizard . . . . . . . . . 28-33
Rules for Inferring the Scope of Unresolved Symbols . . . . . 28-34
Inference of Size, Type, and Complexity . . . . . . . . . . . . . . 28-35

Traceability of Stateflow Objects in Generated Code . . . . 28-37

xxxviii Contents
 Call Extrinsic Functions in a Stateflow Chart . . . . . . . . . . 28-38

Debug and Test Stateflow Charts

29
Basic Approach to Debugging Charts . . . . . . . . . . . . . . . . . . 29-2

Animate Stateflow Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-3

Set Animation Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-3
Maintain Highlighting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-3
Disable Animation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-3
Animate Stateflow Charts as Generated Code Executes on a
Target System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-4

Set Breakpoints to Debug Charts . . . . . . . . . . . . . . . . . . . . . 29-5

Types of Breakpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-5
Set a Breakpoint for a Stateflow Object . . . . . . . . . . . . . . . 29-7
Visual Indication of Execution at Breakpoints . . . . . . . . . . . 29-8

Manage Stateflow Breakpoints and Watch Data . . . . . . . . 29-12

Set Conditions on Breakpoints . . . . . . . . . . . . . . . . . . . . . 29-12
Disable and Enable Breakpoints . . . . . . . . . . . . . . . . . . . . 29-15
View Breakpoint Hits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-16
Clear Breakpoints and Watch Data . . . . . . . . . . . . . . . . . . 29-16
Format Watch Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-17
Save and Restore Breakpoints and Watch Data . . . . . . . . . 29-18

Control Chart Execution from the Stateflow Editor . . . . . 29-19

Debug Run-Time Errors in a Chart . . . . . . . . . . . . . . . . . . . 29-21

Create the Model and the Stateflow Chart . . . . . . . . . . . . 29-21
Debug the Stateflow Chart . . . . . . . . . . . . . . . . . . . . . . . . 29-23
Correct the Run-Time Error . . . . . . . . . . . . . . . . . . . . . . . 29-23

Common Modeling Errors Stateflow Can Detect . . . . . . . . 29-25

State Inconsistencies in a Chart . . . . . . . . . . . . . . . . . . . . 29-25
Conflicting Transitions in a Chart . . . . . . . . . . . . . . . . . . . 29-26
Data Range Violations in a Chart . . . . . . . . . . . . . . . . . . . 29-28
Cyclic Behavior in a Chart . . . . . . . . . . . . . . . . . . . . . . . . 29-29

xxxix
 Guidelines for Avoiding Unwanted Recursion in a Chart . 29-33

Watch Stateflow Data Values . . . . . . . . . . . . . . . . . . . . . . . . 29-35

Watch Data in the Stateflow Breakpoints and Watch
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-35
Watch Data in the Stateflow Chart . . . . . . . . . . . . . . . . . . 29-35
Watch Stateflow Data in the MATLAB Command Window 29-37

Change Data Values During Simulation . . . . . . . . . . . . . . . 29-39

How to Change Values of Stateflow Data . . . . . . . . . . . . . 29-39
Examples of Changing Data Values . . . . . . . . . . . . . . . . . 29-39
Limitations on Changing Data Values . . . . . . . . . . . . . . . . 29-42

Monitor Test Points in Stateflow Charts . . . . . . . . . . . . . . 29-44

About Test Points in Stateflow Charts . . . . . . . . . . . . . . . 29-44
Set Test Points for Stateflow States and Data with the Model
Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-44
Monitor Data Values and State Self Activity Using a Floating
Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-46

What You Can Log During Chart Simulation . . . . . . . . . . . 29-50

See Also . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-50

Basic Approach to Logging States and Data . . . . . . . . . . . 29-51

Enable Signal Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-52

Configure States and Data for Logging . . . . . . . . . . . . . . . 29-53

Properties to Configure for Logging . . . . . . . . . . . . . . . . . . 29-53
Choose a Configuration Method for Logging . . . . . . . . . . . 29-53
Log Individual States and Data . . . . . . . . . . . . . . . . . . . . 29-54
Log Multiple Signals At Once . . . . . . . . . . . . . . . . . . . . . . 29-54
Log Chart Signals Using the Command-Line API . . . . . . . 29-55

Access Signal Logging Data . . . . . . . . . . . . . . . . . . . . . . . . . 29-57

Signal Logging Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-57
Access Logged Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-57

View Logged Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29-61

Log Data in Library Charts . . . . . . . . . . . . . . . . . . . . . . . . . 29-62

How Library Log Settings Influence Linked Instances . . . . 29-62
Override Logging Properties in Chart Instances . . . . . . . . 29-62

xl Contents
 Override Logging Properties in Atomic Subcharts . . . . . . . 29-62

How Stateflow Logs Multidimensional Data . . . . . . . . . . . 29-67

Limitations on Logging Data . . . . . . . . . . . . . . . . . . . . . . . . 29-68

Commenting Stateflow Objects in a Chart . . . . . . . . . . . . . 29-69

Comment Out a Stateflow Object . . . . . . . . . . . . . . . . . . . 29-69
How Commenting Affects the Chart and Model . . . . . . . . . 29-69
Add Text to a Commented Object . . . . . . . . . . . . . . . . . . . 29-71
Limitations on Commenting Objects . . . . . . . . . . . . . . . . . 29-71

Explore and Modify Charts

30
Manage Stateflow Data, Events, and Messages in the Symbols
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-2

Add and Modify Data, Events, and Messages in the Symbols

Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-5
Symbols Window Limitations . . . . . . . . . . . . . . . . . . . . . . . 30-5

Trace Data, Events, and Messages with the Symbols

Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-7

Use the Model Explorer with Stateflow Objects . . . . . . . . 30-10

View Stateflow Objects in the Model Explorer . . . . . . . . . . 30-10
Edit Chart Objects in the Model Explorer . . . . . . . . . . . . . 30-11
Add Data and Events in the Model Explorer . . . . . . . . . . . 30-11
Rename Objects in the Model Explorer . . . . . . . . . . . . . . . 30-12
Set Properties for Chart Objects in the Model Explorer . . . 30-12
Move and Copy Data and Events in the Model Explorer . . 30-13
Change the Port Order of Input and Output Data and
Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-14
Delete Data and Events in the Model Explorer . . . . . . . . . 30-14

Use the Search & Replace Tool . . . . . . . . . . . . . . . . . . . . . . 30-15

Open the Search & Replace Tool . . . . . . . . . . . . . . . . . . . . 30-15
Refine Searches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-17
Specify the Search Scope . . . . . . . . . . . . . . . . . . . . . . . . . . 30-19

xli
 Use the Search Button and View Area . . . . . . . . . . . . . . . 30-20
Specify the Replacement Text . . . . . . . . . . . . . . . . . . . . . . 30-23
Use Replace Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30-24
Search and Replace Messages . . . . . . . . . . . . . . . . . . . . . . 30-24

Semantic Rules Summary

A
Summary of Chart Semantic Rules . . . . . . . . . . . . . . . . . . . . A-2
Enter a Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Execute an Active Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Enter a State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Execute an Active State . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Exit an Active State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Execute a Set of Flow Charts . . . . . . . . . . . . . . . . . . . . . . . . A-4
Execute an Event Broadcast . . . . . . . . . . . . . . . . . . . . . . . . . A-4

Semantic Examples
B
Categories of Semantic Examples . . . . . . . . . . . . . . . . . . . . . . B-2

Transition to and from Exclusive (OR) States . . . . . . . . . . . . B-4

Label Format for a State-to-State Transition . . . . . . . . . . . . B-4
Transition from State to State with Events . . . . . . . . . . . . . B-5
Transition from a Substate to a Substate with Events . . . . . B-8

Control Chart Execution Using Condition Actions . . . . . . . B-10

Condition Action Behavior . . . . . . . . . . . . . . . . . . . . . . . . . B-10
Condition and Transition Action Behavior . . . . . . . . . . . . . B-11
Create Condition Actions Using a For-Loop . . . . . . . . . . . . B-13
Broadcast Events to Parallel (AND) States Using Condition
Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-14
Avoid Cyclic Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-15

Control Chart Execution Using Default Transitions . . . . . B-17

Default Transition in Exclusive (OR) Decomposition . . . . . . B-17

xlii Contents
 Default Transition to a Junction . . . . . . . . . . . . . . . . . . . . . B-18
Default Transition and a History Junction . . . . . . . . . . . . . B-19
Labeled Default Transitions . . . . . . . . . . . . . . . . . . . . . . . . B-20

Process Events Using Inner Transitions . . . . . . . . . . . . . . . B-23

Process Events with an Inner Transition in an Exclusive (OR)
State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-23
Process Events with an Inner Transition to a Connective
Junction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-26
Inner Transition to a History Junction . . . . . . . . . . . . . . . . B-28

Use Connective Junctions to Represent Multiple Paths . . B-30

Label Format for Transition Segments . . . . . . . . . . . . . . . . B-30
If-Then-Else Decision Construct . . . . . . . . . . . . . . . . . . . . . B-31
Self-Loop Transition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-32
For-Loop Construct . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-33
Flow Chart Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-35
Transition from a Common Source to Multiple Destinations B-36
Transition from Multiple Sources to a Common Destination B-37
Transition from a Source to a Destination Based on a Common
Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-38
Backtrack in Flow Charts . . . . . . . . . . . . . . . . . . . . . . . . . . B-39

Control Chart Execution Using Event Actions in a

Superstate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-41

Broadcast Events in Parallel (AND) States . . . . . . . . . . . . . B-42

Broadcast Events in Parallel States . . . . . . . . . . . . . . . . . . B-42
Broadcast Events in a Transition Action with a Nested Event
Broadcast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-45
Broadcast Condition Action Event in Parallel State . . . . . . B-48

Directly Broadcast Events . . . . . . . . . . . . . . . . . . . . . . . . . . . B-52

Directed Event Broadcast Using Send . . . . . . . . . . . . . . . . B-52
Directed Event Broadcast Using Qualified Event Name . . . B-53

Glossary

xliii
 1

Stateflow Chart Concepts

Finite State Machine Concepts on page 1-2

Stateflow Charts and Simulink Models on page 1-4
Stateflow Chart Objects on page 1-6
Stateflow Hierarchy of Objects on page 1-8
Bibliography on page 1-10
1 Stateflow Chart Concepts

Finite State Machine Concepts

In this section...
What Is a Finite State Machine? on page 1-2
Finite State Machine Representations on page 1-2
Stateflow Chart Representations on page 1-2
Notation on page 1-3
Semantics on page 1-3

What Is a Finite State Machine?

Stateflow charts can contain sequential decision logic based on state machines. A finite
state machine is a representation of an event-driven (reactive) system. In an event-driven
system, the system makes a transition from one state (mode) to another, if the condition
defining the change is true.

For example, you can use a state machine to represent the automatic transmission of a
car. The transmission has these operating states: park, reverse, neutral, drive, and low.
As the driver shifts from one position to another, the system makes a transition from one
state to another, for example, from park to reverse.

Finite State Machine Representations

Traditionally, designers used truth tables to represent relationships among the inputs,
outputs, and states of a finite state machine. The resulting table describes the logic
necessary to control the behavior of the system under study. Another approach to
designing event-driven systems is to model the behavior of the system by describing it
in terms of transitions among states. The occurrence of events under certain conditions
determine the state that is active. State-transition charts and bubble charts are
graphical representations based on this approach.

Stateflow Chart Representations

A Stateflow chart can contain sequential and combinatorial logic in the form of state
transition diagrams, flow charts, state transition tables, and truth tables. A state
transition diagram is a graphical representation of a finite state machine. States and

1-2
 Finite State Machine Concepts

transitions form the basic building blocks of a sequential logic system. Another way to
represent sequential logic is a state transition table, which allows you to enter the state
logic in tabular form. You can also represent combinatorial logic in a chart with flow
charts and truth tables.

You can include Stateflow charts as blocks in a Simulink model. The collection of these
blocks in a Simulink model is the Stateflow machine.

A Stateflow chart enables the representation of hierarchy, parallelism, and history. You
can organize complex systems by defining a parent and offspring object structure [1].
For example, you can organize states within other higher-level states. A system with
parallelism can have two or more orthogonal states active at the same time. You can also
specify the destination state of a transition based on historical information.

Notation
Notation defines a set of objects and the rules that govern the relationships between
those objects. Stateflow chart notation provides a way to communicate the design
information in a Stateflow chart.

Stateflow chart notation consists of these elements:

A set of graphical objects

A set of nongraphical text-based objects
Defined relationships between those objects

Semantics
Semantics describe how to interpret chart notation. A typical Stateflow chart contains
actions associated with transitions and states. The semantics describe the sequence of
these actions during chart execution.

1-3
1 Stateflow Chart Concepts

Stateflow Charts and Simulink Models

In this section...
The Simulink Model and the Stateflow Machine on page 1-4
Overview of Defining Stateflow Block Interfaces to Simulink Models on page 1-4

The Simulink Model and the Stateflow Machine

A Stateflow chart functions as a finite state machine within a Simulink model. The
Stateflow machine is the collection of Stateflow blocks in a Simulink model. The
Simulink model and the Stateflow machine work seamlessly together. Running a
simulation automatically executes both the Simulink blocks and the Stateflow charts of
the model.

A Simulink model can consist of combinations of Simulink blocks, toolbox blocks, and
Stateflow blocks (charts). A chart consists of graphical objects (states, boxes, functions,
notes, transitions, connective junctions, and history junctions) and nongraphical objects
(events, messages, and data).

There is a one-to-one correspondence between the Simulink model and the Stateflow
machine. Each Stateflow block in the Simulink model appears as a single Stateflow
chart. Each Stateflow machine has its own object hierarchy. The Stateflow machine is
the highest level in the Stateflow hierarchy. The object hierarchy beneath the Stateflow
machine consists of combinations of graphical and nongraphical objects. See Stateflow
Hierarchy of Objects on page 1-8.

Overview of Defining Stateflow Block Interfaces to Simulink Models

Each Stateflow block corresponds to a single Stateflow chart. The Stateflow block
interfaces to its Simulink model. The Stateflow block can interface to code sources
external to the Simulink model (data, events, custom code).

Stateflow charts are event-driven. Events can be local to the Stateflow block or can
propagate to and from the Simulink model. Data can be local to the Stateflow block or
can pass to and from the Simulink model and external code sources.

Defining the interface for a Stateflow block can involve some or all these tasks:

Defining the Stateflow block update method

1-4
 Stateflow Charts and Simulink Models

Defining Output to Simulink events

Adding and defining nonlocal events and nonlocal data within the Stateflow chart
Defining relationships with any external sources

In the following example, the Simulink model consists of a Sine Wave block, a Scope
block, and a single Stateflow block, titled On_off.

1-5
1 Stateflow Chart Concepts

Stateflow Chart Objects

Stateflow charts consist of graphical and nongraphical objects:

1-6
 Stateflow Chart Objects

To learn how these objects interact, see How Chart Constructs Interact During
Execution on page 3-8.

1-7
1 Stateflow Chart Concepts

Stateflow Hierarchy of Objects

Stateflow machines arrange Stateflow objects in a hierarchy based on containment. That
is, one Stateflow object can contain other Stateflow objects.

The highest object in Stateflow hierarchy is the Stateflow machine. This object contains
all other Stateflow objects in a Simulink model. The Stateflow machine contains all the
charts in a model. In addition, the Stateflow machine for a model can contain its own
data.

1-8
 Stateflow Hierarchy of Objects

Similarly, charts can contain state, box, function, data, event, message, transition,
junction, and note objects. Continuing with the Stateflow hierarchy, states can contain
all these objects as well, including other states. You can represent state hierarchy with
superstates and substates.

A transition out of a superstate implies transitions out of any of its active substates.
Transitions can cross superstate boundaries to specify a substate destination. If a
substate becomes active, its parent superstate also becomes active.

You can organize complex charts by defining a containment structure. A hierarchical

design usually reduces the number of transitions and produces neat, manageable charts.

To manage graphical objects, use the Stateflow Editor.

To manage nongraphical objects, use the Symbols window or Model Explorer.

1-9
1 Stateflow Chart Concepts

Bibliography
[1] Hatley, D. J. and I. A. Pirbhai. Strategies for Real-Time System Specification. New
York, NY: Dorset House Publishing, 1988.

1-10
 2

Stateflow Chart Notation

Overview of Stateflow Objects on page 2-2

Rules for Naming Stateflow Objects on page 2-4
States on page 2-7
State Hierarchy on page 2-15
State Decomposition on page 2-17
Transitions on page 2-19
Transition Connections on page 2-24
Self-Loop Transitions on page 2-28
Inner Transitions on page 2-30
Default Transitions on page 2-35
Connective Junctions on page 2-40
History Junctions on page 2-46
Boxes on page 2-48
When to Use Reusable Functions in Charts on page 2-49
2 Stateflow Chart Notation

Overview of Stateflow Objects

In this section...
Graphical Objects on page 2-2
Nongraphical Objects on page 2-3

Graphical Objects
The following table lists each type of graphical object you can draw in a chart and the
toolbar icon to use for drawing the object.

Type of Graphical Object Toolbar Icon

State

Transition Not applicable

History junction

Default transition

Connective junction

Truth table function

Graphical function

MATLAB function

Box

Simulink function

2-2
 Overview of Stateflow Objects

Nongraphical Objects
You can define data, event, and message objects that do not appear graphically in the
Stateflow Editor. However, you can see them in the Symbols window and the Model
Explorer. See Use the Model Explorer with Stateflow Objects on page 30-10.

Data Objects

A Stateflow chart stores and retrieves data that it uses to control its execution. Stateflow
data resides in its own workspace, but you can also access data that resides externally in
the Simulink model or application that embeds the Stateflow machine. You must define
any internal or external data that you use in a Stateflow chart.

Event Objects

An event is a Stateflow object that can trigger a whole Stateflow chart or individual
actions in a chart. Because Stateflow charts execute by reacting to events, you specify
and program events into your charts to control their execution. You can broadcast events
to every object in the scope of the object sending the event, or you can send an event to a
specific object. You can define explicit events that you specify directly, or you can define
implicit events to take place when certain actions are performed, such as entering a
state.

Message Objects

Stateflow message objects are queued objects that can carry data. You can send a
message from one Stateflow chart to another to communicate between charts. You can
also send local messages within a chart. You define the type of message data. You can
view the lifeline of a message in the Message Viewer block. For more information, see
How Messages Work in Stateflow Charts on page 10-2.

2-3
2 Stateflow Chart Notation

Rules for Naming Stateflow Objects

In this section...
Characters You Can Use on page 2-4
Restriction on Name Length on page 2-4
Keywords to Avoid When Naming Chart Objects on page 2-4

Characters You Can Use

You can name Stateflow objects with any combination of alphanumeric and underscore
characters. Names cannot begin with a numeric character or contain embedded spaces.

Restriction on Name Length

Name length should comply with the maximum identifier length enforced by Simulink
Coder software. You can set the Maximum identifier length parameter in the
All Parameters tab of the Configuration Parameters dialog box. The default is 31
characters and the maximum length you can specify is 256 characters.

Keywords to Avoid When Naming Chart Objects

You cannot use reserved keywords to name chart objects. These keywords are part of the
action language syntax.

Usage in Action Language Syntax Keywords Syntax References

Boolean symbols true Boolean Symbols, true and
false false on page 11-27

Change detection hasChanged Detect Changes in Data Values

hasChangedFrom on page 11-74

hasChangedTo
Complex data complex Define Complex Data Using
imag Operators on page 21-9

real

2-4
 Rules for Naming Stateflow Objects

Usage in Action Language Syntax Keywords Syntax References

Data types boolean Set Data Properties on page
double 8-6

int8
int16
int32
single
uint8
uint16
uint32
Data type operations cast Type Cast Operations on page
fixdt 11-24

type
Explicit events send Broadcast Events to
Synchronize States on page
11-52
Implicit events change Control Chart Execution
chg Using Implicit Events on page
9-33
tick
wakeup
Messages send Stateflow Message Syntax in
forward Charts on page 10-11

discard
isvalid
length
receive
Literal symbols inf Supported Symbols in Actions
t (C charts only) on page 11-27

MATLAB functions and data matlab ml Namespace Operator on

ml page 11-38

2-5
2 Stateflow Chart Notation

Usage in Action Language Syntax Keywords Syntax References

State actions bind State Action Types on page
du 11-2

during
en
entry
ex
exit
on
State activity in Check State Activity on page
11-86
Temporal logic after Control Chart Execution
at Using Temporal Logic on page
11-56
before
every
sec
msec
usec
temporalCount
elapsed
t
duration

2-6
 States

States

In this section...
What Is a State? on page 2-7
State Hierarchy on page 2-7
State Decomposition on page 2-9
State Labels on page 2-10

What Is a State?
A state describes an operating mode of a reactive system. In a Stateflow chart, states are
used for sequential design to create state transition diagrams.

States can be active or inactive. The activity or inactivity of a state can change depending
on events and conditions. The occurrence of an event drives the execution of the state
transition diagram by making states become active or inactive. At any point during
execution, active and inactive states exist.

State Hierarchy
To manage multilevel state complexity, use hierarchy in your Stateflow chart. With
hierarchy, you can represent multiple levels of subcomponents in a system.

State Hierarchy Example

In the following example, three levels of hierarchy appear in the chart. Drawing one state
within the boundaries of another state indicates that the inner state is a substate (or
child) of the outer state (or superstate). The outer state is the parent of the inner state.

2-7
2 Stateflow Chart Notation

In this example, the chart is the parent of the state Car_done. The state Car_done is
the parent state of the Car_made and Car_shipped states. The state Car_made is also
the parent of the Parts_assembled and Painted states. You can also say that the
states Parts_assembled and Painted are children of the Car_made state.

To represent the Stateflow hierarchy textually, use a slash character (/) to represent
the chart and use a period (.) to separate each level in the hierarchy of states. The
following list is a textual representation of the hierarchy of objects in the preceding
example:

/Car_done
/Car_done.Car_made
/Car_done.Car_shipped
/Car_done.Car_made.Parts_assembled
/Car_done.Car_made.Painted

Objects That a State Can Contain

States can contain all other Stateflow objects. Stateflow chart notation supports the
representation of graphical object hierarchy in Stateflow charts with containment. A
state is a superstate if it contains other states. A state is a substate if it is contained by
another state. A state that is neither a superstate nor a substate of another state is a
state whose parent is the Stateflow chart itself.

2-8
 States

States can also contain nongraphical data, event, and message objects. The hierarchy of
this containment appears in the Model Explorer. You define data, event, and message
containment by specifying the parent object.

State Decomposition
Every state (or chart) has a decomposition that dictates what type of substates the state
(or chart) can contain. All substates of a superstate must be of the same type as the
superstate decomposition. State decomposition can be exclusive (OR) or parallel (AND).

Exclusive (OR) State Decomposition

Substates with solid borders indicate exclusive (OR) state decomposition. Use this
decomposition to describe operating modes that are mutually exclusive. When a state has
exclusive (OR) decomposition, only one substate can be active at a time.

In the following example, either state A or state B can be active. If state A is active, either
state A1 or state A2 can be active at a given time.

Parallel (AND) State Decomposition

Substates with dashed borders indicate parallel (AND) decomposition. Use this
decomposition to describe concurrent operating modes. When a state has parallel (AND)
decomposition, all substates are active at the same time.

In the following example, when state A is active, A1 and A2 are both active at the same
time.

2-9
2 Stateflow Chart Notation

The activity within parallel states is essentially independent, as demonstrated in the

following example.

In the following example, when state A becomes active, both states B and C become active
at the same time. When state C becomes active, either state C1 or state C2 can be active.

State Labels
The label for a state appears on the top left corner of the state rectangle with the
following general format:

name/
entry:entry actions
during:during actions

2-10
 States

exit:exit actions
on event_name:on event_name actions
on message_name:on message_name actions
bind:events

The following example demonstrates the components of a state label.

Each action in the state label appears in the subtopics that follow. For more information
on state actions, see:

Process for Entering, Executing, and Exiting States on page 3-74 Describes
how and when entry, during, exit, and on event_name actions occur.
State Action Types on page 11-2 Gives more detailed descriptions of each
type of state action.

State Name

A state label starts with the name of the state followed by an optional / character. In
the preceding example, the state names are On and Off. Valid state names consist
of alphanumeric characters and can include the underscore (_) character. For more
information, see Rules for Naming Stateflow Objects on page 2-4.

2-11
2 Stateflow Chart Notation

Hierarchy provides some flexibility in naming states. The name that you enter on the
state label must be unique when preceded by ancestor states. The name in the Stateflow
hierarchy is the text you enter as the label on the state, preceded by the names of parent
states separated by periods. Each state can have the same name appear in the label, as
long as their full names within the hierarchy are unique. Otherwise, the parser indicates
an error.

The following example shows how unique naming of states works.

Each of these states has a unique name because of its location in the chart. The full
names for the states in FAN1 and FAN2 are:

PowerOn.FAN1.On

2-12
 States

PowerOn.FAN1.Off
PowerOn.FAN2.On
PowerOn.FAN2.Off

State Actions

After the name, you enter optional action statements for the state with a keyword label
that identifies the type of action. You can specify none, some, or all of them. The colon
after each keyword is required. The slash following the state name is optional as long as
it is followed by a carriage return.

For each type of action, you can enter more than one action by separating each action
with a carriage return, semicolon, or a comma. You can specify actions for more than one
event or message by adding additional on event_name or on message_name lines.

If you enter the name and slash followed directly by actions, the actions are interpreted
as entry action(s). This shorthand is useful if you are specifying only entry actions.

Entry Action

Preceded by the prefix entry or en for short. In the preceding example, state On
has entry action on_count=0. This means that the value of on_count is reset to 0
whenever state On becomes active (entered).

During Action

Preceded by the prefix during or du for short. In the preceding label example, state On
has two during actions, light_on() and on_count++. These actions are executed
whenever state On is already active and any event occurs.

Exit Action

Preceded by the prefix exit or ex for short. In the preceding label example, state Off
has the exit action light_off(). If the state Off is active, but becomes inactive
(exited), this action is executed.
On Action

Preceded by the prefix on event_name, or on message_name. In the preceding label

example, state On has an on power_outage action. If state On is active and the event
power_outage occurs, the action handle_outage() is executed.

2-13
2 Stateflow Chart Notation

Bind Action

Preceded by the prefix bind. Events bound to a state can only be broadcast by that state
or its children.

2-14
 State Hierarchy

State Hierarchy
In this section...
State Hierarchy Example on page 2-15
Objects That a State Can Contain on page 2-16

To manage multilevel state complexity, use hierarchy in your Stateflow chart. With
hierarchy, you can represent multiple levels of subcomponents in a system.

State Hierarchy Example

In the following example, three levels of hierarchy appear in the chart. Drawing one state
within the boundaries of another state indicates that the inner state is a substate (or
child) of the outer state (or superstate). The outer state is the parent of the inner state.

In this example, the chart is the parent of the state Car_done. The state Car_done is
the parent state of the Car_made and Car_shipped states. The state Car_made is also
the parent of the Parts_assembled and Painted states. You can also say that the
states Parts_assembled and Painted are children of the Car_made state.

To represent the Stateflow hierarchy textually, use a slash character (/) to represent
the chart and use a period (.) to separate each level in the hierarchy of states. The

2-15
2 Stateflow Chart Notation

following list is a textual representation of the hierarchy of objects in the preceding

example:

/Car_done
/Car_done.Car_made
/Car_done.Car_shipped
/Car_done.Car_made.Parts_assembled
/Car_done.Car_made.Painted

Objects That a State Can Contain

States can contain all other Stateflow objects. Stateflow chart notation supports the
representation of graphical object hierarchy in Stateflow charts with containment. A
state is a superstate if it contains other states. A state is a substate if it is contained by
another state. A state that is neither a superstate nor a substate of another state is a
state whose parent is the Stateflow chart itself.

States can also contain nongraphical data, event, and message objects. The hierarchy of
this containment appears in the Model Explorer. You define data, event, and message
containment by specifying the parent object.

2-16
 State Decomposition

State Decomposition
In this section...
Exclusive (OR) State Decomposition on page 2-17
Parallel (AND) State Decomposition on page 2-17

Every state (or chart) has a decomposition that dictates what type of substates the state
(or chart) can contain. All substates of a superstate must be of the same type as the
superstate decomposition. State decomposition can be exclusive (OR) or parallel (AND).

Exclusive (OR) State Decomposition

Substates with solid borders indicate exclusive (OR) state decomposition. Use this
decomposition to describe operating modes that are mutually exclusive. When a state has
exclusive (OR) decomposition, only one substate can be active at a time.

In the following example, either state A or state B can be active. If state A is active, either
state A1 or state A2 can be active at a given time.

Parallel (AND) State Decomposition

Substates with dashed borders indicate parallel (AND) decomposition. Use this
decomposition to describe concurrent operating modes. When a state has parallel (AND)
decomposition, all substates are active at the same time.

2-17
2 Stateflow Chart Notation

In the following example, when state A is active, A1 and A2 are both active at the same
time.

The activity within parallel states is essentially independent, as demonstrated in the

following example.

In the following example, when state A becomes active, both states B and C become active
at the same time. When state C becomes active, either state C1 or state C2 can be active.

2-18
 Transitions

Transitions

In this section...
What Is a Transition? on page 2-19
Transition Hierarchy on page 2-20
Transition Label Notation on page 2-21
Valid Transitions on page 2-23

What Is a Transition?
A transition is a line with an arrowhead that links one graphical object to another. In
most cases, a transition represents the passage of the system from one mode (state)
object to another. A transition typically connects a source and a destination object.
The source object is where the transition begins and the destination object is where
the transition ends. The following chart shows a transition from a source state, B, to a
destination state, A.

Junctions divide a transition into transition segments. In this case, a full transition
consists of the segments taken from the origin to the destination state. Each segment is
evaluated in the process of determining the validity of a full transition.

The following example has two segmented transitions: one from state On to state Off,
and the other from state On to itself:

2-19
2 Stateflow Chart Notation

A default transition is a special type of transition that has no source object. See Default
Transitions on page 2-35 for details.

Transition Hierarchy
Transitions cannot contain other objects the way that states can. However, transitions
are contained by states. A transition's hierarchy is described in terms of the transition's
parent, source, and destination. The parent is the lowest level that contains the source
and destination of the transition. Consider the parents for the transitions in the following
example:

2-20
 Transitions

The following table resolves the parentage of each transition in the preceding example.
The / character represents the chart. Each level in the hierarchy of states is separated
by the period (.) character.

Transition Label Transition Parent Transition Source Transition Destination

switch_off / /Power_on.Low.Heat /Power_off
switch_high /Power_on /Power_on.Low.Heat /Power_on.High
switch_cold /Power_on.Low /Power_on.Low.Heat /Power_on.Low.Cold

Transition Label Notation

A transition is characterized by its label. The label can consist of an event, a message,
a condition, a condition action, and/or a transition action. The ? character is the default
transition label. Transition labels have the following general format:

event_or_message[condition]{condition_action}/transition_action

Each part of the label is optional.

Transition Label Example

Use the following example to understand the parts of a transition label.

2-21
2 Stateflow Chart Notation

Event Trigger

Specifies an event that causes the transition to be taken, provided the condition, if
specified, is true. Specifying an event is optional. The absence of an event or message
indicates that the transition is taken upon the occurrence of any event. Specify multiple
events using the OR logical operator (|).

In the preceding example, the broadcast of event E triggers the transition from On to Off
as long as the condition [off_count==0] is true.
Condition

Specifies a Boolean expression that, when true, validates a transition to be taken for the
specified event or message trigger. Enclose the condition in square brackets ([]). See
Conditions on page 11-10 for information on the condition notation.

In the preceding example, the condition [off_count==0] must evaluate as true for the
condition action to be executed and for the transition from the source to the destination
to be valid.
Condition Action

Follows the condition for a transition and is enclosed in curly braces ({}). It is executed
as soon as the condition is evaluated as true and before the transition destination has
been determined to be valid. If no condition is specified, an implied condition evaluates to
true and the condition action is executed.

In the preceding example, if the condition [off_count==0] is true, the condition action
off_count = off_count + 1; is immediately executed.

2-22
 Transitions

Transition Action

Executes after the transition destination has been determined to be valid provided
the condition, if specified, is true. If the transition consists of multiple segments, the
transition action is only executed when the entire transition path to the final destination
is determined to be valid. Precede the transition action with a /.

In the preceding example, if the condition [off_count==0] is true, and the destination
state Off is valid, the transition action Light_off is executed.

Valid Transitions
In most cases, a transition is valid when the source state of the transition is active and
the transition label is valid. Default transitions are different because there is no source
state. Validity of a default transition to a substate is evaluated when there is a transition
to its superstate, assuming the superstate is active. This labeling criterion applies to
both default transitions and general case transitions. The following table lists possible
combinations of valid transition labels.

Transition Label Is Valid If...

Event only That event occurs
Event and condition That event occurs and the condition is true
Message only That message occurs
Message and condition That mgssage occurs and the condition is true
Condition only Any event occurs and the condition is true
Action only Any event occurs
Not specified Any event occurs

2-23
2 Stateflow Chart Notation

Transition Connections
In this section...
Transitions to and from Exclusive (OR) States on page 2-24
Transitions to and from Junctions on page 2-24
Transitions to and from Exclusive (OR) Superstates on page 2-25
Transitions to and from Substates on page 2-26

Transitions to and from Exclusive (OR) States

This example shows simple transitions to and from exclusive (OR) states.

The following transition... Is valid when...

B to A State B is active and the event E1 occurs.
A1 to A2 State A1 is active and event E2 occurs.

See Transition to and from Exclusive (OR) States on page B-4 for more
information on the semantics of this notation.

Transitions to and from Junctions

The following chart shows transitions to and from connective junctions.

2-24
 Transition Connections

The chart uses temporal logic to determine when the input u equals 1.

If the input equals 1... A transition occurs from...

Before t = 2 Start to Fast
Between t = 2 and t = 5 Start to Good
After t = 5 Start to Slow

For more information about temporal logic, see Control Chart Execution Using
Temporal Logic on page 11-56. For more information on the semantics of this
notation, see Transition from a Common Source to Multiple Destinations on page
B-36.

Transitions to and from Exclusive (OR) Superstates

This example shows transitions to and from an exclusive (OR) superstate and the use of a
default transition.

2-25
2 Stateflow Chart Notation

The chart has two states at the highest level in the hierarchy, Power_off and
Power_on. By default, Power_off is active. The event Switch toggles the system
between the Power_off and Power_on states. Power_on has three substates: First,
Second, and Third. By default, when Power_on becomes active, First also becomes
active. When Shift equals 1, the system transitions from First to Second, Second to
Third, Third to First, for each occurrence of the event Switch, and then the pattern
repeats.

For more information on the semantics of this notation, see Control Chart Execution
Using Default Transitions on page B-17.

Transitions to and from Substates

The following example shows transitions to and from exclusive (OR) substates.

2-26
 Transition Connections

For details on how this chart works, see Key Behaviors of Debouncer Chart on page
24-3. For information on the semantics of this notation, see Transition from a
Substate to a Substate with Events on page B-8.

2-27
2 Stateflow Chart Notation

Self-Loop Transitions
A transition that originates from and terminates on the same state is a self-loop
transition. The following chart contains four self-loop transitions:

See these sections for more information about the semantics of this notation:

Self-Loop Transition on page B-32

2-28
 Self-Loop Transitions

For-Loop Construct on page B-33

2-29
2 Stateflow Chart Notation

Inner Transitions
An inner transition is a transition that does not exit the source state. Inner transitions
are powerful when defined for superstates with exclusive (OR) decomposition. Use
of inner transitions can greatly simplify a Stateflow chart, as shown by the following
examples:

Before Using an Inner Transition on page 2-30

After Using an Inner Transition to a Connective Junction on page 2-32
Using an Inner Transition to a History Junction on page 2-33

Before Using an Inner Transition

This chart is an example of how you can simplify logic using an inner transition.

2-30
 Inner Transitions

Any event occurs and awakens the Stateflow chart. The default transition to the
connective junction is valid. The destination of the transition is determined by [c1 > 0]

2-31
2 Stateflow Chart Notation

and [c2 > 0]. If [c1 > 0] is true, the transition to A1 is true. If [c2 > 0] is true, the
transition to A2 is valid. If neither [c1 > 0] nor [c2 > 0] is true, the transition to A3
is valid. The transitions among A1, A2, and A3 are determined by E, [c1 > 0], and [c2
> 0].

After Using an Inner Transition to a Connective Junction

This example simplifies the preceding example using an inner transition to a connective
junction.

An event occurs and awakens the chart. The default transition to the connective junction
is valid. The destination of the transitions is determined by [c1 > 0] and [c2 > 0].

You can simplify the chart by using an inner transition in place of the transitions among
all the states in the original example. If state A is already active, the inner transition is
used to reevaluate which of the substates of state A is to be active. When event E occurs,
the inner transition is potentially valid. If [c1 > 0] is true, the transition to A1 is valid.
If [c2 > 0] is true, the transition to A2 is valid. If neither [c1 > 0] nor [c2 > 0] is
true, the transition to A3 is valid. This chart design is simpler than the previous one.

Note: When you use an inner transition to a connective junction, an active substate can
exit and reenter when the transition condition for that substate is valid. For example, if
substate A1 is active and [c1 > 0] is true, the transition to A1 is valid. In this case:

2-32
 Inner Transitions

1 Exit actions for A1 execute and complete.

2 A1 becomes inactive.
3 A1 becomes active.
4 Entry actions for A1 execute and complete.

See Process the First Event with an Inner Transition to a Connective Junction on page
B-26 for more information on the semantics of this notation.

Using an Inner Transition to a History Junction

This example shows an inner transition to a history junction.

State Power_on.High is initially active. When event Reset occurs, the inner transition
to the history junction is valid. Because the inner transition is valid, the currently active
state, Power_on.High, is exited. When the inner transition to the history junction
is processed, the last active state, Power_on.High, becomes active (is reentered). If
Power_on.Low was active under the same circumstances, Power_on.Low would be
exited and reentered as a result. The inner transition in this example is equivalent to
drawing an outer self-loop transition on both Power_on.Low and Power_on.High.

2-33
2 Stateflow Chart Notation

See Use of History Junctions Example on page 2-46 for another example using a
history junction.

See Inner Transition to a History Junction on page B-28 for more information on
the semantics of this notation.

2-34
 Default Transitions

Default Transitions

In this section...
What Is a Default Transition? on page 2-35
Drawing Default Transitions on page 2-35
Label Default Transitions on page 2-35
Default Transition Examples on page 2-36

What Is a Default Transition?

A default transition specifies which exclusive (OR) state to enter when there is ambiguity
among two or more neighboring exclusive (OR) states. A default transition has a
destination but no source object. For example, a default transition specifies which
substate of a superstate with exclusive (OR) decomposition the system enters by default,
in the absence of any other information, such as a history junction. A default transition
can also specify that a junction should be entered by default.

Drawing Default Transitions

Click the Default transition button in the toolbar, and click a location in the drawing
area close to the state or junction you want to be the destination for the default
transition. Drag the mouse to the destination object to attach the default transition. In
some cases, it is useful to label default transitions.

A common programming mistake is to create multiple exclusive (OR) states without a

default transition. In the absence of the default transition, there is no indication of which
state becomes active by default. Note that this error is flagged when you simulate the
model with the State Inconsistencies option enabled.

Label Default Transitions

You can label default transitions as you would other transitions. For example, you might
want to specify that one state or another should become active depending upon the event
that has occurred. In another situation, you might want to have specific actions take
place that are dependent upon the destination of the transition.

2-35
2 Stateflow Chart Notation

Tip: When labeling default transitions, ensure that there is at least one valid default
transition. Otherwise, a chart can transition into an inconsistent state.

Default Transition Examples

The following examples show the use of default transitions in Stateflow charts:

Default Transition to a State Example on page 2-36

Default Transition to a Junction Example on page 2-37
Default Transition with a Label Example on page 2-38

Default Transition to a State Example

This example shows a default transition to a state.

2-36
 Default Transitions

Without the default transition to state PowerOff, when the Stateflow chart wakes up,
none of the states becomes active. A state inconsistency error is reported at run time.

See Control Chart Execution Using Default Transitions on page B-17 for
information on the semantics of this notation.

Default Transition to a Junction Example

This example shows a default transition to a connective junction.

2-37
2 Stateflow Chart Notation

The default transition to the connective junction defines that upon entering the chart, the
destination depends on the condition of each transition segment.

See Default Transition to a Junction on page B-18 for information on the semantics
of this notation.

Default Transition with a Label Example

This example shows a default transition with a label.

2-38
 Default Transitions

When the chart wakes up, the data p and v initialize to 10 and 15, respectively.

See Labeled Default Transitions on page B-20 for more information on the
semantics of this notation.

2-39
2 Stateflow Chart Notation

Connective Junctions
In this section...
What Is a Connective Junction? on page 2-40
Flow Chart Notation with Connective Junctions on page 2-40

What Is a Connective Junction?

The connective junction enables representation of different possible transition paths for a
single transition. Connective junctions are used to help represent the following:

Variations of an if-then-else decision construct, by specifying conditions on some

or all of the outgoing transitions from the connective junction
A self-loop transition back to the source state if none of the outgoing transitions is
valid
Variations of a for loop construct, by having a self-loop transition from the connective
junction back to itself
Transitions from a common source to multiple destinations
Transitions from multiple sources to a common destination
Transitions from a source to a destination based on common events

Note: An event cannot trigger a transition from a connective junction to a destination

state.

See Use Connective Junctions to Represent Multiple Paths on page B-30 for a
summary of the semantics of connective junctions.

Flow Chart Notation with Connective Junctions

Flow chart notation uses connective junctions to represent common code structures like
for loops and if-then-else constructs without the use of states. And by reducing
the number of states in your Stateflow charts, flow chart notation produces efficient
simulation and generated code that helps optimize memory use.

Flow chart notation uses combinations of the following:

2-40
 Connective Junctions

Transitions to and from connective junctions

Self-loops to connective junctions
Inner transitions to connective junctions

Flow chart notation, states, and state-to-state transitions coexist in the same Stateflow
chart. The key to representing flow chart notation is in the labeling of transitions, as
shown in the following examples.

Connective Junction with All Conditions Specified Example

2-41
2 Stateflow Chart Notation

A transition from the Front_desk state to a connective junction is labeled by the

check_in event. Transitions from the connective junction to the destination states are
labeled with conditions. If Front_desk is active when check_in occurs, the transition
from Front_desk to the connective junction occurs first. The transition from the
connective junction to a destination state depends on which of the room_type conditions
is true. If none of the conditions is true, no transition occurs and Front_desk remains
active.

For more information about this chart, see Phases of Chart Execution on page 3-13.
For more information on the semantics of this notation, see If-Then-Else Decision
Construct on page B-31.

Connective Junction with One Unconditional Transition Example

The chart uses temporal logic to determine when the input u equals 1.

If the input equals 1... A transition occurs from...

Before t = 2 Start to Fast
Between t = 2 and t = 5 Start to Good
After t = 5 Start to Slow

For more information about temporal logic, see Control Chart Execution Using
Temporal Logic on page 11-56. For more information on the semantics of this
notation, see If-Then-Else Decision Construct on page B-31.

Connective Junction and For Loops Example

This example shows a combination of flow chart notation and state transition notation.
Self-loop transitions to connective junctions can represent for loop constructs. The

2-42
 Connective Junctions

chart uses implicit ordering of outgoing transitions (see Implicit Ordering of Outgoing
Transitions on page 3-64).

See For-Loop Construct on page B-33 for information on the semantics of this
notation.

Flow Chart Notation Example

This example shows the use of flow chart notation. The chart uses implicit ordering of
outgoing transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

2-43
2 Stateflow Chart Notation

See Flow Chart Notation on page B-35 for information on the semantics of this
notation.

Connective Junction from a Common Source to Multiple Destinations Example

This example shows transition segments from a common source to multiple conditional
destinations using a connective junction. The chart uses implicit ordering of outgoing
transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

2-44
 Connective Junctions

See Transition from a Common Source to Multiple Destinations on page B-36 for
information on the semantics of this notation.

Connective Junction Common Events Example

This example shows transition segments from multiple sources to a single destination
based on the same event using a connective junction.

See Transition from a Source to a Destination Based on a Common Event on page

B-38 for information on the semantics of this notation.

2-45
2 Stateflow Chart Notation

History Junctions
In this section...
What Is a History Junction? on page 2-46
History Junctions and Inner Transitions on page 2-47

What Is a History Junction?

A history junction represents historical decision points in the Stateflow chart. The
decision points are based on historical data relative to state activity. Placing a history
junction in a superstate indicates that historical state activity information is used to
determine the next state to become active. The history junction applies only to the level
of the hierarchy in which it appears.

Use of History Junctions Example

The following example uses a history junction:

Superstate Power_on has a history junction and contains two substates. If state
Power_off is active and event switch_on occurs, the system can enter Power_on.Low
or Power_on.High. The first time superstate Power_on is entered, substate
Power_on.Low is entered because it has a default transition. At some point afterward,
if state Power_on.High is active and event switch_off occurs, superstate Power_on

2-46
 History Junctions

is exited and state Power_off becomes active. Then event switch_on occurs. Because
Power_on.High was the last active substate, it becomes active again. After the first
time Power_on becomes active, the history junction determines whether to enter
Power_on.Low or Power_on.High.

See Default Transition and a History Junction on page B-19 for more information
on the semantics of this notation.

History Junctions and Inner Transitions

By specifying an inner transition to a history junction, you can specify that, based on
a specified event or condition, the active state is to be exited and then immediately
reentered.

See Using an Inner Transition to a History Junction on page 2-33 for an example of this
notation.

See Inner Transition to a History Junction on page B-28 for more information on
the semantics of this notation.

2-47
2 Stateflow Chart Notation

Boxes
In this section...
What Is a Box? on page 2-48
Example of Using a Box on page 2-48

What Is a Box?
A box is a graphical object that organizes other objects in your chart, such as functions
and states.

Example of Using a Box

In this example, the box Heater groups together related states Off and On.

For rules of using boxes and other examples, see Group Chart Objects Using Boxes on
page 7-41.

2-48
 When to Use Reusable Functions in Charts

When to Use Reusable Functions in Charts

State actions and transition conditions can be complicated enough that defining them
inline on the state or transition is not feasible. In this case, express the conditions or
actions using one of the following types of Stateflow functions:

Flow chart Encapsulate flow charts containing if-then-else, switch-case, for, while,
or do-while patterns.
MATLAB Write matrix-oriented algorithms; call MATLAB functions for data
analysis and visualization.
Simulink Call Simulink function-call subsystems directly to streamline design and
improve readability.
Truth table Represent combinational logic for decision-making applications such as
fault detection and mode switching.

Use the function format that is most natural for the type of calculation required in the
state action or transition condition.

If the four standard types of Stateflow functions do not work, you can write your own
C or C++ code for integration with your chart. For more information about custom code
integration, see Share Data Using Custom C Code on page 28-25.

2-49
 3

Stateflow Chart Semantics

What Do Semantics Mean for Stateflow Charts? on page 3-2

How Chart Constructs Interact During Execution on page 3-8
Modeling Guidelines for Stateflow Charts on page 3-32
Modeling Rules That Stateflow Detects During Edit Time on page 3-34
How Events Drive Chart Execution on page 3-43
Types of Chart Execution on page 3-46
Process for Grouping and Executing Transitions on page 3-57
Evaluation Order for Outgoing Transitions on page 3-60
Process for Entering, Executing, and Exiting States on page 3-74
Execution Order for Parallel States on page 3-78
Early Return Logic for Event Broadcasts on page 3-85
3 Stateflow Chart Semantics

What Do Semantics Mean for Stateflow Charts?

In this section...
What Are Chart Semantics? on page 3-2
Common Graphical and Nongraphical Constructs on page 3-3
References for Chart Semantics on page 3-7

What Are Chart Semantics?

Chart semantics describe execution behavior according to the interaction of graphical and
nongraphical constructs.

Graphical Constructs

Graphical constructs consist of objects that appear graphically in a chart. You use the
object palette in the Stateflow Editor to build graphical constructs (see Stateflow Editor
Operations on page 4-26).

Graphical Constructs Types References

Flow charts Decision logic patterns What Is a Flow Chart? on page
Loop logic patterns 5-2

Functions Graphical functions What Is a Graphical Function?

MATLAB functions on page 7-32

Truth table functions MATLAB Functions in a

Stateflow Chart on page
Simulink functions 26-5
What Is a Truth Table? on
page 25-2
Simulink Functions in
Stateflow on page 27-2
Junctions Connective junctions Connective Junctions on page
History junctions 2-40
History Junctions on page 2-46
States States with exclusive (OR) Exclusive (OR) State
decomposition Decomposition on page 2-9

3-2
 What Do Semantics Mean for Stateflow Charts?

Graphical Constructs Types References

States with parallel (AND) Parallel (AND) State
decomposition Decomposition on page 2-9
Substates and superstates Create Substates and
Superstates on page 4-6
Transitions Default transitions Default Transitions on page
Object-to-object transitions 2-35

Inner transitions Transition Connections on

page 2-24
Self-loop transitions

Nongraphical Constructs

Nongraphical constructs appear textually in a chart and often refer to data, events, and
messages. See Add Stateflow Data on page 8-2 ,Define Events on page 9-5,
and Define Messages in a Stateflow Chart on page 10-25 for details. Examples of
nongraphical constructs include:

Conditions and condition actions

Function calls
State actions
Temporal logic statements

Common Graphical and Nongraphical Constructs

The following chart shows commonly used graphical and nongraphical constructs.

3-3
3 Stateflow Chart Semantics

Chart Construct Graphical or Description Reference

Nongraphical?
Condition Nongraphical Boolean expression Transition Label
that specifies that Notation on page 2-21
a transition path is and Conditions on
valid if the expression page 11-10
is true; part of a
transition label
Condition action Nongraphical Action that executes as Transition Label
soon as the condition Notation on page 2-21
evaluates to true; part and Condition Actions
of a transition label on page 11-11
Connective junction Graphical Object that enables Connective Junctions
representation of on page 2-40
different possible
transition paths in a
flow chart
Default transition Graphical Object that specifies Default Transitions
which state to enter on page 2-35
when two or more
exclusive (OR) states
exist at the same level
of hierarchy

3-4
 What Do Semantics Mean for Stateflow Charts?

Chart Construct Graphical or Description Reference

Nongraphical?
Flow chart Graphical Construct that models What Is a Flow
logic patterns by using Chart? on page
connective junctions 5-2
and transitions
History junction Graphical Object that remembers History Junctions on
the previously active page 2-46
state at the level of
hierarchy in which it
appears
MATLAB function Graphical Method of performing MATLAB Functions
computations using a in a Chart on page
subset of the MATLAB 26-2
language
State actions Nongraphical Expressions that State Labels on
specify actions to take page 2-10 and State
when a state is active, Action Types on page
such as initializing or 11-2
updating data; part of a
state label
State with exclusive Graphical State where no more Exclusive (OR) State
(OR) decomposition than one substate can Decomposition on page
be active at a time 2-9
State with parallel Graphical State where all Parallel (AND) State
(AND) decomposition substates can be active Decomposition on page
at the same time 2-9
Substate Graphical State that resides Create Substates and
inside another state Superstates on page
4-6
Superstate Graphical State that contains one Create Substates and
or more states Superstates on page
4-6

3-5
3 Stateflow Chart Semantics

Chart Construct Graphical or Description Reference

Nongraphical?
Transition guarded by Graphical Decision path that Transition Action
input event occurs if the chart Types on page
receives a specific event 11-8
broadcast from another
block in the model

For details on how these graphical and nongraphical constructs interact during chart
execution, see How Chart Constructs Interact During Execution on page 3-8.

3-6
 What Do Semantics Mean for Stateflow Charts?

References for Chart Semantics

For detailed information on types of chart semantics, see these references.

Topic Reference
How do events affect chart execution? How Events Drive Chart Execution on page
3-43
How does a chart switch between being active Types of Chart Execution on page 3-46
and inactive?
In what order do flow charts execute? Process for Grouping and Executing
Transitions on page 3-57
In what order do outgoing transitions from a Evaluation Order for Outgoing Transitions on
single source execute? page 3-60
What happens when you enter, execute, or exit a Process for Entering, Executing, and Exiting
state? States on page 3-74
How do parallel (AND) states work? Execution Order for Parallel States on page
3-78
How does early return logic affect chart Early Return Logic for Event Broadcasts on
execution? page 3-85

For detailed examples of chart semantics, see AppendixB.

3-7
3 Stateflow Chart Semantics

How Chart Constructs Interact During Execution

In this section...
Overview of the Example Model on page 3-8
Model of the Check-In Process for a Hotel on page 3-8
How the Chart Interacts with Simulink Blocks on page 3-12
Phases of Chart Execution on page 3-13

Overview of the Example Model

The example model shows how common graphical and nongraphical constructs in a chart
interact during execution. These constructs include:

Conditions and condition actions

Exclusive (OR) states
Flow charts
Function calls
History junctions
Parallel (AND) states
State actions
Transitions guarded by input events

For details of the chart semantics, see Phases of Chart Execution on page 3-13.

Model of the Check-In Process for a Hotel

This example uses the hotel check-in process to explain Stateflow chart semantics.
To open the model, type sf_semantics_hotel_checkin at the MATLAB command
prompt.

The model consists of four Manual Switch blocks, one Mux block, one Multiport Switch
block, a Hotel chart, and a Display block.

3-8
 How Chart Constructs Interact During Execution

The model uses this To... Because...

block...
Manual Switch Enable toggling between two settings During simulation, you can
during simulation without having to interactively trigger the chart by
pause or restart. sending one of these input events:

Checking in to a hotel
Calling room service
Triggering a fire alarm
Sending an all-clear signal after a
fire alarm

3-9
3 Stateflow Chart Semantics

The model uses this To... Because...

block...
Mux Combine multiple input signals into a A chart can support multiple input
vector. events only if they connect to the
trigger port of a chart as a vector of
inputs.
Multiport Switch Enable selection among more than two This block provides a value for the
inputs. chart input data room_type, where
each room type corresponds to a
number (1, 2, or 3).

A Manual Switch block cannot support

more than two inputs, but a Multiport
Switch block can.
Display Show up-to-date numerical value for During simulation, any change to the
input signal. chart output data fee appears in the
display.

The Hotel chart contains graphical constructs, such as states and history junctions, and
nongraphical constructs, such as conditions and condition actions.

3-10
 How Chart Constructs Interact During Execution

For a mapping of constructs to their locations in the chart, see Common Graphical and
Nongraphical Constructs on page 3-3.

3-11
3 Stateflow Chart Semantics

How the Chart Interacts with Simulink Blocks

Chart Initialization

When simulation starts, the chart wakes up and executes its default transitions because
the Execute (enter) Chart At Initialization option is on (see Execution of a Chart at
Initialization on page 3-55). Then the chart goes to sleep.

Note: If this option is off, the chart does not wake up until you toggle one of the Manual
Switch blocks. You can verify the setting for this option in the Chart properties dialog
box. Right-click inside the top level of the chart and select Properties from the context
menu.

Chart Interaction with Other Blocks

The chart wakes up again only when an edge-triggered input event occurs: check_in,
room_service, fire_alarm, or all_clear. When you toggle a Manual Switch block
for an input event during simulation, the chart detects a rising or falling edge and wakes
up. While the chart is awake:

The Multiport Switch block provides a value for the chart input data room_type.
The Display block shows any change in value for the chart output data fee.

Chart Inactivity

After completing all possible phases of execution, the chart goes back to sleep.

3-12
 How Chart Constructs Interact During Execution

Phases of Chart Execution

The following sections explain chart execution for each shaded region of the Hotel chart.

Phase: Chart Initialization

This section describes what happens in the Front_desk state just after the chart wakes
up.

3-13
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

1 Your first stop is at the front desk of the At the chart level, the default transition
hotel. to Check_in occurs, making that state
active. Then, the default transition to
Front_desk occurs, making that state
active.

For reference, see Steps for Entering a

State on page 3-74.

3-14
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

2 You leave the front desk after checking in The check_in event guards the outgoing
to the hotel. transition from Front_desk. When the
chart receives an event broadcast for
check_in, the transition becomes valid.

For reference, see How Charts Process

Events on page 3-44.
3 Just before you leave the front desk, you Just before the transition occurs, the exit
pick up your bags to move to your room. action of Front_desk sets the move_bags
local data to 1. Then, Front_desk
becomes inactive.

For reference, see Steps for Exiting an

Active State on page 3-75.

Modeling Guidelines for Chart Initialization. The following guidelines apply to

chart initialization.

Modeling Guideline Why This Guideline Applies Reference

Use exclusive (OR) This guideline ensures proper State Decomposition on
decomposition when no chart execution. For example, page 2-9
two states at a level of the Check_in and Waiting_area Specify Substate
hierarchy can be active at the are exclusive (OR) states, Decomposition on page
same time. because you cannot be inside 4-8
and outside the hotel at the
same time.
Use a default transition to This guideline prevents state Default Transitions on page
mark the first state to become inconsistency errors during 2-35
active among exclusive (OR) chart execution. State Inconsistencies in a
states. Chart on page 29-25
Use events, instead of Since you cannot easily Activate a Stateflow Chart
conditions, to guard transitions quantify the numerical value Using Input Events on page
that depend on occurrences of checking into a hotel, model 9-9
without inherent numerical such an occurrence as an event.
value.

3-15
3 Stateflow Chart Semantics

Modeling Guideline Why This Guideline Applies Reference

Use an exit action to execute Other types of state actions State Action Types on page
a statement once, just before a execute differently and do not 11-2
state becomes inactive. apply:

Entry actions execute once,

just after a state becomes
active.
During actions execute
at every time step (except
the first time step after
a state becomes active).
Execution continues as long
as the chart remains in that
state and no valid outgoing
transitions exist.
On event_name actions
execute only after receiving
an event broadcast.

Phase: Evaluation of Outgoing Transitions from a Single Junction

This section describes what happens after exiting the Front_desk state: the evaluation
of a group of outgoing transitions from a single junction.

3-16
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

1 You can move to one of three types of After the check_in event triggers a
rooms. transition out of Front_desk, three
transition paths are available based on the
type of room you select with the Multiport
Switch block. Transition testing occurs
based on the priority you assign to each
path.

3-17
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

For reference, see Order of Execution for
a Set of Flow Charts on page 3-58.
2 If you choose an executive suite, the base If the room_type input data equals 1, the
fee is 1500. top transition is valid. If this condition
is true, the condition action executes by
setting the fee output data to 1500.

Note: If the top transition is not valid,

control flow backtracks to the central
junction so that testing of the next
transition can occur. This type of
backtracking is intentional.

To learn about unintentional backtracking

and how to avoid it, see Backtrack in
Flow Charts on page B-39 and Best
Practices for Creating Flow Charts on
page 5-31.
3 If you choose a family suite, the base fee is If room_type equals 2, the middle
1000. transition is valid. If this condition is true,
the condition action executes by setting
fee to 1000.
4 If you choose a single room, the base fee is If room_type equals 3, the bottom
500. transition is valid. If this condition is true,
the condition action executes by setting
fee to 500.

What happens if room_type has a value other than 1, 2, or 3?

Because the Multiport Switch block outputs only 1, 2, or 3, room_type cannot have any
other values. However, if room_type has a value other than 1, 2, or 3, the chart stays in
the Front_desk state. This behavior applies because no transition path out of that state
is valid.

Modeling Guidelines for Evaluation of Outgoing Transitions. The following

guidelines apply to transition syntax.

3-18
 How Chart Constructs Interact During Execution

Modeling Guideline Why This Guideline Applies Reference

Use conditions, instead of Because you can quantify a What Is a Flow Chart? on page
events, to guard transitions type of hotel room numerically, 5-2
that depend on occurrences express the choice of room type
with numerical value. as a condition.
Use condition actions instead Condition actions execute as Transition Action Types on
of transition actions whenever soon as the condition evaluates page 11-8
possible. to true. Transition actions
do not execute until after the
transition path is complete, to a
terminating junction or a state.

Unless an execution delay is

necessary, use condition actions
instead of transition actions.
Use explicit ordering to control You can specify explicit or Evaluation Order for Outgoing
the testing order of a group of implicit ordering of transitions. Transitions on page 3-60
outgoing transitions. By default, a chart uses explicit
ordering. If you switch to
implicit ordering, the transition
testing order can change when
graphical objects move.

Phase: Execution of State Actions for a Superstate

This section describes what happens after you enter the Checked_in state, regardless of
which substate becomes active.

3-19
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

1 After reaching your desired room, you The entry action executes by setting the
finish moving your bags. move_bags local data to 0.
2 If you order room service, your hotel bill If the chart receives an event broadcast for
increases by a constant amount. room_service, these actions occur:

1 The counter for the service local

data increments by 1.

3-20
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

2 A function call to expenses occurs,
which returns the value of the hotel
bill stored by the fee output data.

For reference, see How Charts Process

Events on page 3-44.

Modeling Guidelines for Execution of State Actions. The following guidelines

apply to state actions.

Modeling Guideline Why This Guideline Applies Reference

Use an entry action to execute Other types of state actions State Action Types on page
a statement once, right after a execute differently and do not 11-2
state becomes active. apply:
Use an On event_name or During actions execute at
On message_name action to every time step until there
execute a statement only after is a valid transition out of
receiving an event broadcast or the state.
a message.
Exit actions execute once,
just before a state becomes
inactive.
Use a superstate to enclose This guideline enables reuse Create Substates and
multiple substates that share of state actions that apply Superstates on page 4-6
the same state actions. to multiple substates. You
write the state actions only
once, instead of writing them
separately in each substate.

Phase: Function Call from a State Action

This part of the chart describes how you can perform function calls while a state is active.

3-21
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

1 Based on your room type and the total expenses is a MATLAB function that
number of room service requests, you can takes the total number of room service
track your hotel bill. requests as an input and returns the
current hotel bill as an output.

If you double-click the function box, you

see this script in the function editor:

3-22
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

function y = expenses(x)

if (room_type == 1)
y = 1500 + (x*50);
else
if (room_type == 2)
y = 1000 + (x*25);
else
y = 500 + (x*5);
end
end

Modeling Guidelines for Function Calls. The following guidelines apply to function
calls.

Modeling Guideline Why This Guideline Applies Reference

Use MATLAB functions MATLAB functions are MATLAB Functions in a Chart
for performing numerical better at handling numerical on page 26-2
computations in a chart. computations than graphical
functions, truth tables, or
Simulink functions.
Use descriptive names in Descriptive function names
function signatures. enhance readability of chart
objects.

Phase: Execution of State with Exclusive Substates

This part of the chart shows how a state with exclusive (OR) decomposition executes.

3-23
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

1 When you reach the executive suite, you When the condition room_type == 1 is
enter the bedroom first. true, the condition action fee = 1500
executes. Completion of that transition
path triggers these state initialization
Note: The executive suite has separate actions:
bedroom and dining areas. Therefore, you
can be in only one area of the suite at any 1 Checked_in becomes active and
time. executes its entry action.

3-24
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

2 Executive_suite becomes active.
3 The default transition to Bedroom
occurs, making that state active.

For reference, see Steps for Entering a

State on page 3-74.
2 When you order room service, you enter When the room_service event
the dining area to eat. occurs, the transition from Bedroom to
Dining_area occurs.
3 When you want the food removed from the When the room_service event occurs,
dining area, you order room service again the transition from Dining_area to
and then return to the bedroom. Bedroom occurs.
4 If you leave the executive suite because of If a transition out of Executive_suite
a fire alarm, you return to your previous occurs, the history junction records
room after the all-clear signal. the last active substate, Bedroom or
Dining_area. For details on how this
transition can occur, see Phase: Events
Guard Transitions Between States on
page 3-28.

Modeling Guidelines for Execution of Exclusive (OR) States. The following

guidelines apply to exclusive (OR) states.

Modeling Guideline Why This Guideline Applies Reference

Use exclusive (OR) This guideline ensures proper State Decomposition on
decomposition when no two chart execution. For example, page 2-9
states at that level of the Bedroom and Dining_area Specify Substate
hierarchy can be active at the are exclusive (OR) states, Decomposition on page
same time. because you cannot be in both 4-8
places at the same time.
If reentry to a state with If you do not record the History Junctions on page
exclusive (OR) decomposition previously active substate, the 2-46
depends on the previously default transition occurs and
active substate, use a history the wrong substate can become
junction. This type of junction active upon state reentry.
records the active substate
when the chart exits the state.

3-25
3 Stateflow Chart Semantics

Modeling Guideline Why This Guideline Applies Reference

For example, if you were eating
when a fire alarm sounded, you
would return to the bedroom
instead of the dining room.

Phase: Execution of State with Parallel Substates

This part of the chart shows how a state with parallel (AND) decomposition executes.

3-26
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

1 When your family reaches the suite, When the condition room_type == 2 is
family members can be in both bedrooms true, the condition action fee = 1000
(for example, parents in the master executes. Completion of that transition
bedroom and children in the second path triggers these state initialization
bedroom). A default room choice does not actions:
apply.
1 Checked_in becomes active and
executes its entry action.
2 Family_suite becomes active.
3 The parallel states wake up in
the order given by the number
in the upper right corner of each
state: Master_bedroom, then
Second_bedroom.

How do I specify the order?

To specify the order:

a Verify that the chart uses explicit

ordering.

In the Chart properties dialog

box, select the User specified
state/transition execution
order check box.
b Right-click in a parallel state
and select a number from the
Execution Order menu.

For reference, see Steps for Entering a

State on page 3-74.
2 You can occupy both rooms at the same Master_bedroom and Second_bedroom
time. remain active at the same time.

Modeling Guidelines for Execution of Parallel (AND) States. The following

guidelines apply to parallel (AND) states.

3-27
3 Stateflow Chart Semantics

Modeling Guideline Why This Guideline Applies Reference

Use parallel (AND) This guideline ensures proper State Decomposition on
decomposition when all states chart execution. For example, page 2-9
at that level of the hierarchy Master_bedroom and Specify Substate
can be active at the same time. Second_bedroom are parallel Decomposition on page
states, because you can occupy 4-8
both rooms at the same time.
Use no history junctions in This guideline prevents parsing History Junctions on page
states with parallel (AND) errors. Since all parallel states 2-46
decomposition. at a level of hierarchy are
active at the same time, history
junctions have no meaning.
Use explicit ordering to control You can specify explicit or Execution Order for Parallel
the execution order of parallel implicit ordering of parallel States on page 3-78
(AND) states. states. By default, a chart
uses explicit ordering. If you
switch to implicit ordering, the
execution order can change
when parallel states move.

Phase: Events Guard Transitions Between States

This part of the chart describes how events can guard transitions between exclusive (OR)
states.

3-28
 How Chart Constructs Interact During Execution

Stage Hotel Scenario Chart Behavior

1 If a fire alarm sounds, When the chart receives an event broadcast for fire_alarm,
you leave the hotel and a transition occurs from a substate of Check_in to
move to a waiting area Waiting_area.
outside.
How does this transition occur?

Suppose that Check_in, Checked_in, Executive_suite, and

Dining_area are active when the chart receives fire_alarm.

3-29
3 Stateflow Chart Semantics

Stage Hotel Scenario Chart Behavior

1 States become inactive in ascending order of hierarchy:

a Dining_area
b Executive_suite
c Checked_in
d Check_in
2 Waiting_area becomes active.
2 If an all-clear signal When the chart receives an event broadcast for all_clear, a
occurs, you can leave the transition from Waiting_area to the previously active substate
waiting area and return of Check_in occurs.
to your previous location
inside the hotel. The history junction at each level of hierarchy in Check_in
enables the chart to remember which substate was previously
active before the transition to Waiting_area occurred.

How does this transition occur?

Suppose that Check_in, Checked_in, Executive_suite,

and Dining_area were active when the chart received
fire_alarm.

1 Waiting_area becomes inactive.

2 States become active in descending order of hierarchy:

a Check_in
b Checked_in (The default transition does not apply.)
c Executive_suite
d Dining_area (The default transition does not apply.)

Modeling Guidelines for Guarding Transitions. The following guideline discusses

the use of events versus conditions.

Modeling Guideline Why This Guideline Applies Reference

Use events, instead of Because you cannot easily Activate a Stateflow Chart
conditions, to guard transitions quantify the numerical value Using Input Events on page
of a fire alarm or an all- 9-9

3-30
 How Chart Constructs Interact During Execution

Modeling Guideline Why This Guideline Applies Reference

that depend on occurrences clear signal, model such an
without numerical value. occurrence as an event.

3-31
3 Stateflow Chart Semantics

Modeling Guidelines for Stateflow Charts

These guidelines promote efficient modeling of charts with events, states, and
transitions.

Use signals of the same data type for input events

When you use multiple input events to trigger a chart, verify that all input signals use
the same data type. Otherwise, simulation stops and an error message appears. For more
information, see Data Types Allowed for Input Events on page 9-11.

Use a default transition to mark the first state to become active among exclusive (OR) states

This guideline prevents state inconsistency errors during chart execution.

Use condition actions instead of transition actions whenever possible

Condition actions execute as soon as the condition evaluates to true. Transition actions
do not execute until after the transition path is complete, to a terminating junction or a
state.

Unless an execution delay is necessary, use condition actions instead of transition

actions.

Use explicit ordering to control the testing order of a group of outgoing transitions

You can specify explicit or implicit ordering of transitions. By default, a chart uses
explicit ordering. If you switch to implicit ordering, the transition testing order can
change when graphical objects move.

Verify intended backtracking behavior in flow charts

If your chart contains unintended backtracking behavior, a warning message appears

with instructions on how to avoid that problem. For more information, see Best
Practices for Creating Flow Charts on page 5-31.

Use a superstate to enclose substates that share the same state actions

When you have multiple exclusive (OR) states that perform the same state actions, group
these states in a superstate and define state actions at that level.

This guideline enables reuse of state actions that apply to multiple substates. You write
the state actions only once, instead of writing them separately in each substate.

3-32
 Modeling Guidelines for Stateflow Charts

Note: You cannot use boxes for this purpose because boxes do not support state actions.

Use MATLAB functions for performing numerical computations in a chart

MATLAB functions are better at handling numerical computations than graphical

functions, truth tables, or Simulink functions.

Use descriptive names in function signatures

Descriptive function names enhance readability of chart objects.

Use history junctions to record state history

If reentry to a state with exclusive (OR) decomposition depends on the previously active
substate, use a history junction. This type of junction records the active substate when
the chart exits the state. If you do not record the previously active substate, the default
transition occurs and the wrong substate can become active upon state reentry.

Do not use history junctions in states with parallel (AND) decomposition

This guideline prevents parsing errors. Since all parallel states at a level of hierarchy are
active at the same time, history junctions have no meaning.

Use explicit ordering to control the execution order of parallel (AND) states

You can specify explicit or implicit ordering of parallel states. By default, a chart uses
explicit ordering. If you switch to implicit ordering, the execution order can change when
parallel states move.

3-33
3 Stateflow Chart Semantics

Modeling Rules That Stateflow Detects During Edit Time

In this section...
Object contains a syntax error on page 3-35
Dangling transitions on page 3-35
Unreachable state on page 3-36
Transition shadowing on page 3-36
Invalid default transition path on page 3-37
Default transition is missing on page 3-38
Unexpected backtracking on page 3-38
Transition loops outside natural parent on page 3-39
Transition action precedes a condition action along this path on page 3-40
Invalid transitions crossing into graphical function on page 3-41
Invalid transitions crossing out of graphical function on page 3-41

The Stateflow editor displays potential errors and warnings by highlighting objects in
red or orange. By fixing these issues when you design your charts, you avoid potential
compile or run-time warnings and errors. To see details and possible fixes, hover your
cursor over the object and click the badge.

To turn off the edit-time checking, clear Display > Error & Warnings. When you
change the diagnostic level of a corresponding configuration parameter, the edit-time
diagnostic level also changes. For example, if you set the Unreachable execution path
configuration parameter on the Diagnostics > Stateflow pane in the Configuration
Parameters dialog box to none, then Stateflow does not highlight transition shadowing
in the editor. Not all edit-time checks have corresponding configuration parameters.

Edit-Time Check Issue Diagnostic Configuration Parameter

Object contains a syntax error No configuration parameter. Always an
error.
Dangling transitions Unreachable execution path
Unreachable state Unreachable execution path
Transition shadowing Unreachable execution path

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 Modeling Rules That Stateflow Detects During Edit Time

Edit-Time Check Issue Diagnostic Configuration Parameter

Invalid default transition No configuration parameter. Always an
error.
Default transition is missing No configuration parameter. Always an
error.
Unexpected backtracking Unexpected backtracking
Transition loops outside natural parent Transition outside natural parent
Transition action precedes a condition Transition action specified before condition
action along this path action
Invalid transitions crossing into graphical No configuration parameter. Always an
function error.
Invalid transitions crossing out of graphical No configuration parameter. Always an
function error.

The editor highlights these potential issues.

Object contains a syntax error

The notation for an action or condition in a state or transition does not follow the syntax
rules. Violations are highlighted as errors. See Transition Label Notation on page 2-21
and State Labels on page 2-10.

Note: Subcharts with syntax errors appear red in the parent chart with a badge
indicating a syntax issue. In the subchart editor, the object is highlighted in red, however
there is no badge indicating the issue.

Dangling transitions
A dangling transition is not connected to a destination object. Transitions must have a
valid source state or junction and a valid destination state or junction. See Transitions
on page 2-19.

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Unreachable execution path parameter in the Model Configuration Parameters dialog
box.

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3 Stateflow Chart Semantics

Unreachable state
If there is not a valid execution path leading to a state, it is unreachable. Make this state
a reachable destination by connecting the state with a transition from a reachable state
or junction.

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Unreachable execution path parameter in the Model Configuration Parameters dialog
box.

Transition shadowing
Transition shadowing occurs when a chart contains an unconditional transition
originating from a source that prevents other transitions from the same source from
executing.

To avoid transition shadowing, create no more than one unconditional transition for each
group of outgoing transitions from a state or junction. Explicitly specify an unconditional

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 Modeling Rules That Stateflow Detects During Edit Time

transition as a lower evaluation order than any transitions with conditions. See
Evaluation Order for Outgoing Transitions on page 3-60.

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Unreachable execution path parameter in the Model Configuration Parameters dialog
box.

When possible, click Fix for Stateflow to switch the execution orders for the transitions.
You can undo the applied fix from the Edit menu.

Invalid default transition path

An invalid default transition occurs when the execution path for the default transition
exits the parent state. Create a default transition that contains the execution path within
the parent state.

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3 Stateflow Chart Semantics

Default transition is missing

Charts or states with exclusive (OR) decomposition require a default transition to
indicate which state or junction should enter execution by default. See Default
Transitions on page 2-35.

When you click Fix, Stateflow adds a default transition to the upper-left state or
junction.

Unexpected backtracking
Unintended backtracking of control flow can occur at a junction under these conditions:

The junction does not have an unconditional transition path to a state or terminating
junction.
Multiple transition paths lead to that junction.

See Backtrack in Flow Charts on page B-39.

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Unexpected backtracking parameter in the Model Configuration Parameters dialog
box.

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 Modeling Rules That Stateflow Detects During Edit Time

When you click Fix, Stateflow adds a transition from the backtracking junction to a
terminating junction. You can undo the applied fix from the Edit menu.

Transition loops outside natural parent

When a transition loops outside of the parent state between the source and destination,
the exit and entry actions of the parent state execute before the destination state
becomes active. Often this behavior is not the behavior that you want. For example:

1 State B is initially active.

2 State B exit actions execute.
3 State A exit actions execute.
4 State A entry actions execute.
5 State C entry actions execute.

To have execution move from state B to state C without exiting and reentering state A,
move the transition so that it is contained within state A.

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3 Stateflow Chart Semantics

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Transition outside natural parent parameter in the Model Configuration Parameters
dialog box.

Transition action precedes a condition action along this path

When there is a transition action on a path with a condition action on a following
transition, the actions do not execute in the order of the transitions. The condition action
executes before the preceding transition action. Condition actions execute when the
associated condition is evaluated as true, whereas transition actions execute only when
the transition path is fully executed.

In this diagram, if ConditionA and ConditionB are true, ConditionAction2

executes before TransitionAction1.

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 Modeling Rules That Stateflow Detects During Edit Time

Execution order:

1 Evaluate ConditionA.
2 If true, evaluate ConditionB.
3 If true, execute ConditionAction2.
4 Exit state A.
5 Execute TranstionAction1.
6 Enter state B.

To improve clarity, place the transition action after the last condition action on the path.

Control the level of diagnostic action by setting the Diagnostics > Stateflow >
Transition action specified before condition action parameter in the Model
Configuration Parameters dialog box.

Invalid transitions crossing into graphical function

Transitions cannot have a graphical function as the destination. Call graphical functions
from state actions or transitions.

Invalid transitions crossing out of graphical function

Transitions cannot have a graphical function as the source. Call graphical functions from
state actions or transitions.

More About
What Do Semantics Mean for Stateflow Charts? on page 3-2

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3 Stateflow Chart Semantics

Modeling Guidelines for Stateflow Charts on page 3-32

Stateflow Editor Operations on page 4-26

3-42
 How Events Drive Chart Execution

How Events Drive Chart Execution

In this section...
How Stateflow Charts Respond to Events on page 3-43
Sources for Stateflow Events on page 3-43
How Charts Process Events on page 3-44

How Stateflow Charts Respond to Events

Stateflow charts execute only in response to an event in a cyclical manner.

Because a chart runs on a single thread, actions that take place based on an event
are atomic to that event. All activity caused by the event in the chart finishes before
execution returns to the activity that was taking place before receiving the event. Once
an event initiates an action, the action completes unless interrupted by an early return.

Sources for Stateflow Events

Simulink events awaken Stateflow charts. You can use events to control the processing
of your charts by broadcasting events, as described in Broadcast Events to Synchronize

3-43
3 Stateflow Chart Semantics

States on page 11-52. For examples using event broadcasting and directed event
broadcasting, see:

Directed Event Broadcasting

Broadcast Events to Parallel (AND) States Using Condition Actions on page
B-14
Avoid Cyclic Behavior on page B-15
Broadcast Events in Parallel States on page B-42
Broadcast Events in a Transition Action with a Nested Event Broadcast on page
B-45
Broadcast Condition Action Event in Parallel State on page B-48

Events have hierarchy (a parent) and scope. The parent and scope together define a
range of access to events. The parent of an event usually determines who can trigger
on the event (has receive rights). See the Name and Parent fields for an event in Set
Properties for an Event on page 9-7 for more information.

How Charts Process Events

Stateflow charts process events from the top down through the chart hierarchy:

1 Executes during and on event_name actions for the active state

2 Checks for valid transitions in substates

All events, except for the output edge trigger to a Simulink block (see the following note),
have the following execution in a chart:

1 If the receiver of the event is active, then it executes (see Execution of an Active
Chart on page 3-47 and Steps for Executing an Active State on page 3-75).
(The event receiver is the parent of the event unless a directed event broadcast
occurs using the send() function.)
2 If the receiver of the event is not active, nothing happens.
3 After broadcasting the event, the broadcaster performs early return logic based on
the type of action statement that caused the event.

To learn about early return logic, see Early Return Logic for Event Broadcasts on
page 3-85.

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 How Events Drive Chart Execution

Note: Output edge-trigger event execution in a Simulink model is equivalent to

toggling the value of an output data value between 1 and 0. It is not treated as a
Stateflow event. See Define Edge-Triggered Output Events on page 22-17.

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3 Stateflow Chart Semantics

Types of Chart Execution

In this section...
Lifecycle of a Stateflow Chart on page 3-46
Execution of an Inactive Chart on page 3-46
Execution of an Active Chart on page 3-47
Execution of a Chart with Super Step Semantics on page 3-47
Execution of a Chart at Initialization on page 3-55

Lifecycle of a Stateflow Chart

Stateflow charts go through several stages of execution:

Stage Description
Inactive Chart has no active states
Active Chart has active states
Sleeping Chart has active states, but no events to
process

When a Simulink model first triggers a Stateflow chart, the chart is inactive and has no
active states. After the chart executes and completely processes its initial trigger event
from the Simulink model, it transfers control back to the model and goes to sleep. At the
next Simulink trigger event, the chart changes from the sleeping to active stage.

See How Events Drive Chart Execution on page 3-43.

Execution of an Inactive Chart

When a chart is inactive and first triggered by an event from a Simulink model, it first
executes its set of default flow charts (see Order of Execution for a Set of Flow Charts
on page 3-58). If this action does not cause an entry into a state and the chart has
parallel decomposition, then each parallel state becomes active (see Steps for Entering a
State on page 3-74).

If executing the default flow paths does not cause state entry, a state inconsistency error
occurs.

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 Types of Chart Execution

Execution of an Active Chart

After a chart has been triggered the first time by the Simulink model, it is an active
chart. When the chart receives another event from the model, it executes again as an
active chart. If the chart has no states, each execution is equivalent to initializing a
chart. Otherwise, the active children execute. Parallel states execute in the same order
that they become active.

Execution of a Chart with Super Step Semantics

What Is Super Step Semantics?

By default, Stateflow charts execute once for each active input event. If no input events
exist, the charts execute once every time step. If you are modeling a system that must
react quickly to inputs, you can enable super step semantics, a Stateflow chart property
(see Enable Super Step Semantics on page 3-48).

When you enable super step semantics, a Stateflow chart executes multiple times for
every active input event or for every time step when the chart has no input events. The
chart takes valid transitions until either of these conditions occurs:

No more valid transitions exist, that is, the chart is in a stable active state
configuration.
The number of transitions taken exceeds a user-specified maximum number of
iterations.

In a super step, your chart responds faster to inputs but performs more computations in
each time step. Therefore, when generating code for an embedded target, make sure that
the chart can finish the computation in a single time step. To achieve this behavior, fine-
tune super step parameters by setting an upper limit on the number of transitions that
the chart takes per time step (see What Is Maximum Number of Iterations? on page
3-47).

For simulation targets, specify whether the chart goes to the next time step or generates
an error if it reaches the maximum number of transitions prematurely. However, in
generated code for embedded targets, the chart always goes to the next time step after
taking the maximum number of transitions.

What Is Maximum Number of Iterations?

In a super step, your chart always takes at least one transition. Therefore, when you
set a maximum number of iterations in each super step, the chart takes that number of

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3 Stateflow Chart Semantics

transitions plus 1. For example, if you specify 10 as the maximum number of iterations,
your chart takes 11 transitions in each super step. To set maximum number of iterations
in each super step, see Enable Super Step Semantics on page 3-48.

Enable Super Step Semantics

To enable super step semantics:

1 Right-click inside the top level of a chart and select Properties from the context
menu.
2 In the Chart properties dialog box, select the Enable Super Step Semantics check
box.

Two additional fields appear below that check box.

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 Types of Chart Execution

3 Enter a value in the field Maximum Iterations in each Super Step.

The chart always takes one transition during a super step, so the value N that you
specify represents the maximum number of additional transitions (for a total of N
+1). Try to choose a number that allows the chart to reach a stable state within the

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3 Stateflow Chart Semantics

time step, based on the mode logic of your chart. For more information, see What Is
Maximum Number of Iterations? on page 3-47
4 Select an action from the drop-down menu in the field Behavior after too many
iterations.

Your selection determines how the chart behaves during simulation if it exceeds the
maximum number of iterations in the super step before reaching a stable state.

Behavior Description
Proceed The chart goes back to sleep with the last active state
configuration, that is, after updating local data at the last
valid transition in the super step.
Throw Error Simulation stops and the chart generates an error,
indicating that too many iterations occurred while trying to
reach a stable state.

Note: Selecting Throw Error can help detect infinite loops

in transition cycles (see Detection of Infinite Loops in
Transition Cycles on page 3-54.

Note: This option is relevant only for simulation targets. For embedded targets, code
generation goes to the next time step rather than generating an error.

Super Step Example

The following model shows how super step semantics differs from default semantics:

In this model, a Constant block outputs a constant value of 20 to input u in a Stateflow

chart. Because the value of u is always 20, each transition in the chart is valid:

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 Types of Chart Execution

By default, the chart takes only one transition in each simulation step, incrementing y
each time.

When you enable super step semantics, the chart takes all valid transitions in each time
step, stopping at state C with y = 3.

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3 Stateflow Chart Semantics

How Super Step Semantics Works with Multiple Input Events

When you enable super step semantics for a chart with multiple active input events, the
chart takes all valid transitions for the first active event before it begins processing the
next active event. For example, consider the following model:

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 Types of Chart Execution

In this model, the Sum block produces a 2-by-1 vector signal that goes from [0,0] to [1,1]
at time t = 1. As a result, when the model wakes up the chart, events E1 and E2 are both
active:

If you enable super step semantics, the chart takes all valid transitions for event E1. The
chart takes transitions from state A to B and then from state B to C in a single super step.
The scope shows that y = 3 at the end of the super step:

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3 Stateflow Chart Semantics

In a super step, this chart never transitions to state D because there is no path from state
C to state D.

Detection of Infinite Loops in Transition Cycles

If your chart contains transition cycles, taking multiple transitions in a single time step
can cause infinite loops. Consider the following example:

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 Types of Chart Execution

In this example, the transitions between states A and B cycle and produce an infinite
loop because the value of x remains constant at 1. One way to detect infinite loops is to
configure your chart to generate an error if it reaches a maximum number of iterations in
a super step. See Enable Super Step Semantics on page 3-48.

Execution of a Chart at Initialization

By default, the first time a chart wakes up, it executes the default transition paths. At
this time, the chart can access inputs, write to outputs, and broadcast events. If you want
your chart to begin executing from a known configuration, you can enable the option
to execute at initialization. When you turn on this option, the state configuration of a
chart initializes at time 0 instead of the first occurrence of an input event. The default
transition paths of the chart execute during the model initialization phase at time 0,
corresponding to the mdlInitializeConditions() (Simulink) phase for S-functions.

You select the Execute (enter) Chart At Initialization check box in the Chart
properties dialog box, as described in Specify Chart Properties on page 22-3.

Note: If an output of this chart connects to a SimEvents block, do not select this check
box. To learn more about using Stateflow charts and SimEvents blocks together in a
model, see the SimEvents documentation.

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3 Stateflow Chart Semantics

Due to the transient nature of the initialization phase, do not perform certain actions in
the default transition paths of the chart and associated state entry actions which
execute at initialization. Follow these guidelines:

Do not access chart input data, because blocks connected to chart input ports might
not have initialized their outputs yet.
Do not call exported graphical functions from other charts, because those charts might
not have initialized yet.
Do not broadcast function-call output events, because the triggered subsystems might
not have initialized yet.

You can control the level of diagnostic action for invalid access to chart input data in
the Diagnostics > Stateflow pane of the Configuration Parameters dialog box. For
more information, see the documentation for the Invalid input data access in chart
initialization (Simulink) diagnostic.

Execute at initialization is ignored in Stateflow charts that do not contain states.

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 Process for Grouping and Executing Transitions

Process for Grouping and Executing Transitions

In this section...
Transition Flow Chart Types on page 3-57
Order of Execution for a Set of Flow Charts on page 3-58

Transition Flow Chart Types

Before executing transitions for an active state or chart, Stateflow software groups
transitions by the following types:

Default flow charts are all default transition segments that start with the same
parent.
Inner flow charts are all transition segments that originate on a state and reside
entirely within that state.
Outer flow charts are all transition segments that originate on the respective state
but reside at least partially outside that state.

Each set of flow charts includes other transition segments connected to a qualifying
transition segment through junctions and transitions. Consider the following example:

In this example, state A has both an inner and a default transition that connect to a
junction with outgoing transitions to states A.A1 and A.A2. If state A is active, its set of
inner flow charts includes:

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3 Stateflow Chart Semantics

The inner transition

The outgoing transitions from the junction to state A.A1 and A.A2

In addition, the set of default flow charts for state A includes:

The default transition to the junction

The two outgoing transitions from the junction to state A.A1 and A.A2

In this case, the two outgoing transition segments from the junction are members of more
than one flow chart type.

Order of Execution for a Set of Flow Charts

Each flow chart group executes in the order of group priority until a valid transition
appears. The default transition group executes first, followed by the outer transitions
group and then the inner transitions group. Each flow chart group executes as follows:

1 Order the group's transition segments for the active state.

An active state can have several possible outgoing transitions. The chart orders
these transitions before checking them for validity. See Evaluation Order for
Outgoing Transitions on page 3-60.
2 Select the next transition segment in the set of ordered transitions.
3 Test the transition segment for validity.
4 If the segment is invalid, go to step 2.
5 If the destination of the transition segment is a state, do the following:

a Testing of transition segments stops and a transition path forms by backing up

and including the transition segment from each preceding junction back to the
starting transition.
b The states that are the immediate children of the parent of the transition path
exit (see Steps for Exiting an Active State on page 3-75).
c The transition action from the final transition segment of the full transition path
executes.
d The destination state becomes active (see Steps for Entering a State on page
3-74).
6 If the destination is a junction with no outgoing transition segments, do the
following:

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 Process for Grouping and Executing Transitions

a Testing stops without any state exits or entries.

7 If the destination is a junction with outgoing transition segments, repeat step 1 for
the set of outgoing segments.
8 After testing all outgoing transition segments at a junction, take the following
actions:

a Backtrack the incoming transition segment that brought you to the junction.
b Continue at step 2, starting with the next transition segment after the backup
segment.

The set of flow charts completes execution when all starting transitions have been
tested.

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3 Stateflow Chart Semantics

Evaluation Order for Outgoing Transitions

In this section...
What Does Ordering Mean for Outgoing Transitions? on page 3-60
Detection of Transition Shadowing on page 3-61
Explicit Ordering of Outgoing Transitions on page 3-61
Implicit Ordering of Outgoing Transitions on page 3-64
What Happens When You Switch Between Explicit and Implicit Ordering on page
3-69
Transition Testing Order in Multilevel State Hierarchy on page 3-69

What Does Ordering Mean for Outgoing Transitions?

When multiple transitions originate from a single source (such as a state or junction), a
Stateflow chart must determine in which order to evaluate those transitions. Order of
evaluation depends on:

Explicit ordering

Specify explicitly the evaluation order of outgoing transitions on an individual basis

(see Explicit Ordering of Outgoing Transitions on page 3-61).
Implicit ordering

Override explicit ordering in C charts by letting Stateflow use internal rules to order
transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

Note: You can order transitions only within their type (inner, outer, or default). For more
information, see Transition Flow Chart Types on page 3-57.

Outgoing transitions are assigned priority numbers based on order of evaluation. The
lower the number, the higher the priority. The priority number appears on each outgoing
transition.

Because evaluation order is a chart property, all outgoing transitions in the chart inherit
the property setting. You cannot mix explicit and implicit ordering in the same Stateflow
chart. However, you can mix charts with different ordering in the same Simulink model.

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 Evaluation Order for Outgoing Transitions

Detection of Transition Shadowing

Transition shadowing occurs when a chart contains multiple unconditional transitions
that originate from the same state or the same junction. To avoid transition shadowing,
ensure that no more than one unconditional transition exists for each group of outgoing
transitions from a state or junction.

You can control the behavior of the Stateflow diagnostic that detects transition
shadowing. On the Diagnostics > Stateflow pane of the Configuration Parameters
dialog box, set Unreachable execution path to none, warning, or error. For
information about other diagnostics, see Model Configuration Parameters: Stateflow
Diagnostics (Simulink).

Explicit Ordering of Outgoing Transitions

By default, a Stateflow chart orders outgoing transitions explicitly based on evaluation
priorities you set.

How Explicit Ordering Works

When you open a new Stateflow chart, all outgoing transitions from a source are
automatically numbered in the order you create them, starting with the next available
number for the source.

You can change the order of outgoing transitions by explicitly renumbering them. When
you change a transition number, the Stateflow chart automatically renumbers the other
outgoing transitions for the source by preserving their relative order. This behavior is
consistent with the renumbering rules for Simulink ports.

For example, if you have a source with five outgoing transitions, changing transition 4 to
2 results in the automatic renumbering shown.

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3 Stateflow Chart Semantics

Automatic Renumbering of Transitions During Explicit Reordering

Order Transitions Explicitly

To use explicit ordering for transitions, perform these tasks:

1 Enable Explicit Ordering at the Chart Level on page 3-62

2 Set Evaluation Order for Transitions Individually on page 3-63

Enable Explicit Ordering at the Chart Level

To enable explicit ordering for transitions:

1 Right-click inside the top level of a chart and select Properties from the context
menu.

The Chart properties dialog box appears.

2 Select the User specified state/transition execution order check box.

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 Evaluation Order for Outgoing Transitions

3 Click OK.

Set Evaluation Order for Transitions Individually

1 Right-click a transition and select Execution Order.

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3 Stateflow Chart Semantics

Note: If you select Execution Order while the chart is in implicit ordering mode,
the only option available is Enable user-specified execution order for this
chart. This option opens the Chart properties dialog box where you can switch
to explicit ordering mode, as described in Order Transitions Explicitly on page
3-62.

A context menu of available transition numbers appears, with a check mark next to
the current number for this transition.
2 Select the new transition number.

The chart automatically renumbers the other transitions for the source by preserving
the relative transition order.
3 Repeat this procedure to renumber other transitions as needed.

Another way to access the transition order number is through the properties dialog box.

1 Right-click a transition and select Properties.

The properties dialog box for the transition appears.

2 Click in the Execution order box.

A drop-down list of valid transition numbers appears.

3 Select the new transition number and click Apply.

Note: If explicit ordering mode is enabled, the chart assigns the new number to
the current transition and automatically renumbers the other transitions. If the
chart is in implicit ordering mode, an error dialog box appears and the old number is
retained.

Implicit Ordering of Outgoing Transitions

How Implicit Ordering Works

For C charts in implicit ordering mode, a Stateflow chart evaluates a group of outgoing
transitions from a single source based on these factors (in descending order of priority):

1 Hierarchy (see Order by Hierarchy on page 3-65)

3-64
 Evaluation Order for Outgoing Transitions

2 Label (see Order by Label on page 3-66)

3 Angular surface position of transition source (see Order by Angular Position of
Source on page 3-66)

Note: Implicit ordering creates a dependency between design layout and evaluation
priority. When you rearrange transitions in your chart, you can accidentally change order
of evaluation and affect simulation results. For more control over your designs, use the
default explicit ordering mode to set evaluation priorities.

Order by Hierarchy

A chart evaluates a group of outgoing transitions in an order based on the hierarchical

level of the parent of each transition. The parent of a transition is the lowest level or
innermost object in the Stateflow hierarchy that contains all parts of the transition,
including any source state or junction and the endpoint object. For a group of outgoing
transitions from a single source, the transition whose parent is at a higher hierarchical
level than the parents of all other outgoing transitions is first in testing order, and so on.

Example of Ordering by Hierarchy

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3 Stateflow Chart Semantics

The parent of the transition from state A1 to state B is the chart.

The parent of the transition from state A1 to state A2 is the state A.
An event occurs while state A1 is active.

Because the chart is at a higher level in the hierarchy than state A, the transition from
state A1 to state B takes precedence over the transition from state A1 to state A2.

Order by Label

A chart evaluates a group of outgoing transitions with equal hierarchical priority based
on the labels, in the following order of precedence:

1 Labels with events and conditions

2 Labels with events
3 Labels with conditions
4 No label

Order by Angular Position of Source

A chart evaluates a group of outgoing transitions with equal hierarchical and label
priority based on angular position on the surface of the source object. The transition with
the smallest clock position has the highest priority. For example, a transition with a
2 o'clock source position has a higher priority than a transition with a 4 o'clock source
position. A transition with a 12 o'clock source position has the lowest priority.

Note: These evaluations proceed in a clockwise direction around the source object.

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 Evaluation Order for Outgoing Transitions

Example of Angular Ordering for a Source State

For each outgoing transition from state A, the parent is the chart and the label
contains a condition. Therefore, the outgoing transitions have equal hierarchical and
label priority.
The conditions [C_one == 1] and [C_two == 2] are false, and the condition [C_three
== 3] is true.

The chart evaluates the outgoing transitions from state A in this order.

Phase Chart evaluates transition Condition is... Transition occurs?

to...
1 State B False No
2 State C False No
3 State D True Yes

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3 Stateflow Chart Semantics

Example of Angular Ordering for a Source Junction

For each outgoing transition from the junction, the parent is the chart and the label
contains a condition. Therefore, the outgoing transitions have equal hierarchical and
label priority.
The conditions [C_one == 1] and [C_two == 2] are false, and the conditions [C_three
== 3] and [C_four == 4] are true.
The junction source point for the transition to state E is exactly 12 o'clock.

The chart evaluates the outgoing transitions from the junction in this order.

Phase Chart evaluates transition Condition is... Transition occurs?

to...
1 State B False No
2 State C False No
3 State D True Yes

Since the transition to state D occurs, the chart does not evaluate the transition to state
E.

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 Evaluation Order for Outgoing Transitions

Using Implicit Ordering for Transitions

To use implicit ordering for transitions in a C chart, follow these steps:

1 Right-click inside the top level of the chart and select Properties from the context
menu.
2 In the Chart properties dialog box, clear the User specified state/transition
execution order check box.
3 Click OK.

What Happens When You Switch Between Explicit and Implicit Ordering
If you switch to implicit ordering mode in a C chart after explicitly ordering transitions,
the transition order resets to follow the implicit rules. Similarly, if you switch back to
explicit ordering mode, without changing the chart, you can restore the previous explicit
transition order. All existing transitions in a chart retain their current order numbers
until you explicitly change them.

Note: If you change back to explicit ordering after modifying the chart, you might not be
able to restore the previous explicit transition order.

Transition Testing Order in Multilevel State Hierarchy

How Multilevel Transition Testing Order Works

By default, charts use explicit ordering for transitions. In this mode, you have explicit
control over the testing priority, as described in Explicit Ordering of Outgoing
Transitions on page 3-61.

If you use implicit ordering for transitions, the following testing order applies. For each
group of transitions that originate from the same state, tiebreaking criteria apply in this
order: hierarchy, label, and angular position.

Testing Chart Action Order by Hierarchy Order by Label Order by Angular

Order Position
1 Tests 1 Outer transitions 1 Events and The transition with
transitions 2 Inner transitions conditions the smallest clock

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3 Stateflow Chart Semantics

Testing Chart Action Order by Hierarchy Order by Label Order by Angular

Order Position
that originate 2 Events position has the
from the 3 Conditions highest priority.
highest-level
active state 4 No label A transition with
(superstate). a 12 o'clock source
position has the
2 Tests 1 Outer transitions
lowest priority.
transitions that that cross the border
originate from of the highest-
the next lower- level active state
level active (superstate)
state. 2 Outer transitions
that stay within the
parent of the state
3 Inner transitions
3 Repeats step 2 until transition testing is complete.

The following chart shows the behavior of multilevel transition testing. Assume that the
Super1.Sub1.Subsub1 state is active.

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 Evaluation Order for Outgoing Transitions

Because the chart uses implicit ordering, the following transition testing order applies:

This Applies to the label... For this transition...

priority...
1 [a < 0] Super1 to Super2.B
2 [i > 0] Super1 to Super1.Sub1
3 [b > 0] Super1.Sub1 to Super2.A

3-71
3 Stateflow Chart Semantics

This Applies to the label... For this transition...

priority...
4 [i < 0] Super1.Sub1 to Super1
5 [c > 0] Super1.Sub1.Subsub1 to Super2.A
6 [d > 5] Super1.Sub1.Subsub1 to Super1.Sub2
7 [c < 0] Super1.Sub1.Subsub1 to Super1.Sub1.Subsub2

Example Model with Multilevel Transition Testing

Suppose that you open the sf_debouncer model and reach the point in the simulation
where the Debounce.On state is active.

Because the chart uses implicit ordering, the following transition testing order applies:

This priority... Applies to the label... For this transition...

1 after(0.3, sec) Debounce to Off.Fault
2 after(0.1, sec) Debounce.On to On

3-72
 Evaluation Order for Outgoing Transitions

This priority... Applies to the label... For this transition...

3 [sw < 0] Debounce.On to
Debounce.Off

Now suppose that the transition from Debounce.On to Debounce.Off occurs.

Because the chart uses implicit ordering, the following transition testing order applies:

This priority... Applies to the label... For this transition...

1 after(0.3, sec) Debounce to Off.Fault
2 after(0.1, sec) Debounce.Off to Off
3 [sw > 0] Debounce.Off to
Debounce.On

For more information on how this model works, see Key Behaviors of Debouncer Chart
on page 24-3.

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3 Stateflow Chart Semantics

Process for Entering, Executing, and Exiting States

In this section...
Steps for Entering a State on page 3-74
Steps for Executing an Active State on page 3-75
Steps for Exiting an Active State on page 3-75
State Execution Example on page 3-76

Steps for Entering a State

A state becomes active in one of these ways:

An incoming transition crosses state boundaries.

An incoming transition ends at the state boundary.
It is the parallel state child of an active state.

A state performs its entry action (if specified) when it becomes active. The state becomes
active before its entry action executes and completes.

The execution steps for entering a state are as follows:

1 If the parent of the state is not active, perform steps 1 through 4 for the parent first.
2 If the state is a parallel state, check if a sibling parallel state previous in entry order
is active. If so, start at step 1 for this parallel state.

Parallel (AND) states are ordered for entry based on whether you use explicit
ordering (default) or implicit ordering. For details, see Explicit Ordering of Parallel
States on page 3-79 and Implicit Ordering of Parallel States on page 3-80.
3 Mark the state active.
4 Perform any entry actions.
5 Enter children, if needed:

a If the state contains a history junction and there is an active child of this state at
some point after the most recent chart initialization, perform the entry actions
for that child. Otherwise, execute the default flow paths for the state.
b If this state has children that are parallel states (parallel decomposition),
perform entry steps 1 through 5 for each state according to its entry order.

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 Process for Entering, Executing, and Exiting States

c If this state has only one child substate, the substate becomes active when the
parent becomes active, regardless of whether a default transition is present.
Entering the parent state automatically makes the substate active. The presence
of any inner transition has no effect on determining the active substate.
6 If the state is a parallel state, perform all entry steps for the sibling state next in
entry order.
7 If the transition path parent is not the same as the parent of the current state,
perform entry steps 6 and 7 for the immediate parent of this state.
8 The chart goes to sleep.

Steps for Executing an Active State

When states become active, they perform the following execution steps:

1 Execute the set of outer flow charts (see Order of Execution for a Set of Flow
Charts on page 3-58).

If this action causes a state transition, execution stops.

Note: This step never occurs for parallel states.

2 Perform during actions and valid on event/message name actions.

Note: Stateflow charts process these actions based on their order of appearance in
state labels.
3 Execute the set of inner flow charts.

If this action does not cause a state transition, the active children execute, starting
at step 1. Parallel states execute in the same order that they become active.

Steps for Exiting an Active State

A state becomes inactive in one of these ways:

An outgoing transition originates at the state boundary.

An outgoing transition crosses the state boundary.

3-75
3 Stateflow Chart Semantics

It is a parallel state child of an activated state.

A state performs its exit actions before becoming inactive.

The execution steps for exiting a state are as follows:

1 Sibling parallel states exit starting with the last-entered and progress in reverse
order to the first-entered. See step 2 of Steps for Entering a State on page 3-74.
2 If a state has active children, performs the exit actions of the child states in the
reverse order from when they became active.
3 Perform any exit actions.
4 Mark the state as inactive.

State Execution Example

The following example shows how active and inactive states respond to events.

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 Process for Entering, Executing, and Exiting States

Inactive Chart Event Reaction

Inactive charts respond to events as follows:

1 An event occurs and the chart wakes up.

2 The chart checks to see if there is a valid transition as a result of the event.

A valid default transition to state A exists.

3 State A becomes active.
4 State A entry actions (entA()) execute and complete.
5 The chart goes back to sleep.

Sleeping Chart Event Reaction

Sleeping charts respond to events as follows:

1 Event E_one occurs and the chart wakes up.

State A is active from the preceding steps 1 through 5.

2 The chart root checks to see if there is a valid transition as a result of E_one. A valid
transition from state A to state B exists.
3 State A exit actions (exitA()) execute and complete.
4 State A becomes inactive.
5 State B becomes active.
6 State B entry actions (entB()) execute and complete.

The chart goes back to sleep.

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3 Stateflow Chart Semantics

Execution Order for Parallel States

In this section...
Ordering for Parallel States on page 3-78
Explicit Ordering of Parallel States on page 3-79
Implicit Ordering of Parallel States on page 3-80
Order Maintenance for Parallel States on page 3-81
Execution Priorities in Restored States on page 3-83
Switching Between Explicit and Implicit Ordering on page 3-84
Execution Order of Parallel States in Boxes and Subcharts on page 3-84

Ordering for Parallel States

Although multiple parallel (AND) states in the same chart execute concurrently, the
Stateflow chart must determine when to activate each one during simulation. This
ordering determines when each parallel state performs the actions that take it through
all stages of execution, as described in Process for Entering, Executing, and Exiting
States on page 3-74.

Unlike exclusive (OR) states, parallel states do not typically use transitions. Instead,
order of execution depends on:

Explicit ordering

Specify explicitly the execution order of parallel states on a state-by-state basis (see
Explicit Ordering of Parallel States on page 3-79).
Implicit ordering

Override explicit ordering by letting a Stateflow chart use internal rules to order
parallel states (see Implicit Ordering of Parallel States on page 3-80).

Parallel states are assigned priority numbers based on order of execution. The lower the
number, the higher the priority. The priority number of each state appears in the upper
right corner.

Because execution order is a chart property, all parallel states in the chart inherit the
property setting. You cannot mix explicit and implicit ordering in the same Stateflow

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 Execution Order for Parallel States

chart. However, you can mix charts with different ordering modes in the same Simulink
model.

Explicit Ordering of Parallel States

By default, a Stateflow chart orders parallel states explicitly based on execution
priorities you set.

How Explicit Ordering Works

When you open a new Stateflow chart or one that does not yet contain any parallel
states the chart automatically assigns priority numbers to parallel states in the order
you create them. Numbering starts with the next available number within the parent
container.

When you enable explicit ordering in a chart that contains implicitly ordered parallel
states, the implicit priorities are preserved for the existing parallel states. When you add
new parallel states, execution order is assigned in the same way as for new Stateflow
charts in order of creation.

You can reset execution order assignments at any time on a state-by-state basis, as
described in Set Execution Order for Parallel States Individually on page 3-80.
When you change execution order for a parallel state, the Stateflow chart automatically
renumbers the other parallel states to preserve their relative execution order. For details,
see Order Maintenance for Parallel States on page 3-81.

Order Parallel States Explicitly

To use explicit ordering for parallel states, perform these tasks:

1 Enable Explicit Ordering at the Chart Level on page 3-79

2 Set Execution Order for Parallel States Individually on page 3-80

Enable Explicit Ordering at the Chart Level

To enable explicit ordering for parallel states, follow these steps:

1 Right-click inside the top level of the chart and select Properties from the context
menu.

The Chart properties dialog box appears.

3-79
3 Stateflow Chart Semantics

2 Select the User specified state/transition execution order check box.

3 Click OK.

If your chart already contains parallel states that have been ordered implicitly, the
existing priorities are preserved until you explicitly change them. When you add new
parallel states in explicit mode, your chart automatically assigns priorities based on
order of creation (see How Explicit Ordering Works on page 3-79). However you
can now explicitly change execution order on a state-by-state basis, as described in
Set Execution Order for Parallel States Individually on page 3-80.

Set Execution Order for Parallel States Individually

In explicit ordering mode, you can change the execution order of individual parallel
states. Right-click the parallel state of interest and select a new priority from the
Execution Order menu.

Implicit Ordering of Parallel States

Rules of Implicit Ordering for Parallel States

In implicit ordering mode, a Stateflow chart orders parallel states implicitly based on
location. Priority goes from top to bottom and then left to right, based on these rules:

The higher the vertical position of a parallel state in the chart, the higher the
execution priority for that state.
Among parallel states with the same vertical position, the leftmost state receives
highest priority.

The following example shows how these rules apply to top-level parallel states and
parallel substates.

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 Execution Order for Parallel States

Note: Implicit ordering creates a dependency between design layout and execution
priority. When you rearrange parallel states in your chart, you can accidentally change
order of execution and affect simulation results. For more control over your designs, use
the default explicit ordering mode to set execution priorities.

Order Parallel States Implicitly

To use implicit ordering for parallel states, follow these steps:

1 Right-click inside the top level of the chart and select Properties from the context
menu.
2 In the Chart properties dialog box, clear the User specified state/transition
execution order check box.
3 Click OK.

Order Maintenance for Parallel States

Whether you use explicit or implicit ordering, a chart tries to reconcile execution
priorities when you remove, renumber, or add parallel states. In these cases, a chart
reprioritizes the parallel states to:

Fill in gaps in the sequence so that ordering is contiguous

Ensure that no two states have the same priority
Preserve the intended relative priority of execution

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3 Stateflow Chart Semantics

How a Chart Preserves Relative Priorities in Explicit Mode

For explicit ordering, a chart preserves the user-specified priorities. Consider this
example of explicit ordering:

Because of explicit ordering, the priority of each state and substate matches the order of
creation in the chart. The chart reprioritizes the parallel states and substates when you
perform these actions:

1 Change the priority of top-level state b to 3.

2 Add a top-level state g.
3 Remove substate e.

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 Execution Order for Parallel States

The chart preserves the priority set explicitly for top-level state b, but renumbers all
other parallel states to preserve their prior relative order.

How a Chart Preserves Relative Priorities in Implicit Mode

For implicit ordering, a chart preserves the intended relative priority based on geometry.
Consider this example of implicit ordering:

If you remove top-level state b and substate e, the chart automatically reprioritizes the
remaining parallel states and substates to preserve implicit geometric order:

Execution Priorities in Restored States

There are situations in which you need to restore a parallel state after you remove
it from a Stateflow chart. In implicit ordering mode, a chart reassigns the execution
priority based on where you restore the state. If you return the state to its original
location in the chart, you restore its original priority.

However, in explicit ordering mode, a chart cannot always reinstate the original
execution priority to a restored state. It depends on how you restore the state.

If you remove a state by... And restore the state by... What is the priority?
Deleting, cutting, dragging Using the undo command The original priority is
outside the boundaries restored.
of the parent state, or
dragging so its boundaries
overlap the parent state

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3 Stateflow Chart Semantics

If you remove a state by... And restore the state by... What is the priority?
Dragging outside the Dragging it back into the The original priority is lost.
boundaries of the parent parent state The Stateflow chart treats
state or so its boundaries the restored state as the last
overlap the parent state and created and assigns it the
releasing the mouse button lowest execution priority.
Dragging outside the Dragging it back into the The original priority is
boundaries of the parent parent state restored.
state or so its boundaries
overlap the parent state
without releasing the mouse
button
Dragging so its boundaries Dragging it to a location The original priority is
overlap one or more sibling with no overlapping restored.
states boundaries inside the same
parent state
Cutting Pasting The original priority is lost.
The Stateflow chart treats
the restored state as the last
created and assigns it the
lowest execution priority.

Switching Between Explicit and Implicit Ordering

If you switch to implicit mode after explicitly ordering parallel states, the Stateflow chart
resets execution order to follow implicit rules of geometry. However, if you switch from
implicit to explicit mode, the chart does not restore the original explicit execution order.

Execution Order of Parallel States in Boxes and Subcharts

When you group parallel states inside a box, the states retain their relative execution
order. In addition, the Stateflow chart assigns the box its own priority based on the
explicit or implicit ordering rules that apply. This priority determines when the chart
activates the parallel states inside the box.

When you convert a state with parallel decomposition into a subchart, its substates
retain their relative execution order based on the prevailing explicit or implicit rules.

3-84
 Early Return Logic for Event Broadcasts

Early Return Logic for Event Broadcasts

In this section...
Guidelines for Proper Chart Behavior on page 3-85
How Early Return Logic Works on page 3-85
Example of Early Return Logic on page 3-86

Guidelines for Proper Chart Behavior

These guidelines ensure proper chart behavior in event-driven systems:

When a state is active, its parent should also be active.

A state (or chart) with exclusive (OR) decomposition must never have more than one
active child.
If a parallel state is active, siblings with higher priority must also be active.

How Early Return Logic Works

Stateflow charts run on a single thread. Therefore, charts must interrupt current activity
to process events. Activity based on an event broadcast from a state or transition action
can conflict with the current activity. Charts resolve these conflicts by using early return
logic for event broadcasts as follows:

Action Type Early Return Logic

Entry If the state is no longer active at the end of the event broadcast, the
chart does not perform remaining steps for entering a state.
Exit If the state is no longer active at the end of the event broadcast, the
chart does not perform remaining exit actions or transitions from
state to state.
During If the state is no longer active at the end of the event broadcast, the
chart does not perform remaining steps for executing an active state.
Condition If the origin state of the inner or outer flow chart or parent state of
the default flow chart are no longer active at the end of the event
broadcast, the chart does not perform remaining steps for executing the
flow chart.

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3 Stateflow Chart Semantics

Action Type Early Return Logic

Transition If the parent of the transition path is not active or if that parent
has an active child the chart does not perform remaining transition
actions and state entry actions.

Example of Early Return Logic

In this example, assume that state A is initially active. Event E occurs, causing the
following behavior:

1 The chart root checks to see if there is a valid transition out of the active state A as a
result of event E.
2 A valid transition to state B exists.
3 The condition action of the valid transition executes and broadcasts event F.

Event F interrupts the transition from A to B.

4 The chart root checks to see if there is a valid transition out of the active state A as a
result of event F.
5 A valid transition to state C exists.
6 State A executes its exit action.
7 State A becomes inactive.
8 State C becomes active.
9 State C executes and completes its entry action.

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 Early Return Logic for Event Broadcasts

State C is now the only active child of its chart. The Stateflow chart cannot return to the
transition from state A to state B and continue after the condition action that broadcast
event F (step 3). First, its source, state A, is no longer active. Second, if the chart allowed
the transition, state B would become the second active child of the chart. This behavior
violates the guideline that a state (or chart) with exclusive (OR) decomposition can never
have more than one active child. Therefore, the chart uses early return logic and halts
the transition from state A to state B.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

3-87
 4

Create Stateflow Charts

Basic Approach for Modeling Event-Driven Systems on page 4-2

Represent Operating Modes Using States on page 4-5
Transition Between Operating Modes on page 4-18
Stateflow Editor Operations on page 4-26
4 Create Stateflow Charts

Basic Approach for Modeling Event-Driven Systems

In this section...
Identify System Attributes on page 4-2
Select a State Machine Type on page 4-2
Specify State Actions and Transition Conditions on page 4-3
Define Persistent Data to Store State Variables on page 4-3
Simplify State Actions and Transition Conditions with Function Calls on page 4-4
Check That Your System Representation Is Complete on page 4-4

Identify System Attributes

Before you build the Stateflow chart, identify your system attributes by answering these
questions:

1 What are your interfaces?

a What are the event triggers to which your system reacts?

b What are the inputs to your system?
c What are the outputs from your system?
2 Does your system have any operating modes?

a If the answer is yes, what are the operating modes?

b Between which modes can you transition? Are there any operating modes that
run in parallel?

If your system has no operating modes, the system is stateless. If your system has
operating modes, the system is modal.

Select a State Machine Type

After identifying your system attributes, the first step is to create a new chart. For more
information, see sfnew. Select one of the following state machine types:

Classic The default machine type. Provides the full set of semantics for MATLAB
charts and C charts.

4-2
 Basic Approach for Modeling Event-Driven Systems

Mealy Machine type in which output is a function of inputs and state.

Moore Machine type in which output is a function of state.

For more information , see How Chart Constructs Interact During Execution on
page 3-8, Differences Between MATLAB and C as Action Language Syntax on page
12-7, and Overview of Mealy and Moore Machines on page 6-2.

Specify State Actions and Transition Conditions

After you create an empty chart, answer the following questions:

1 For each state, what are the actions you want to perform?
2 What are the rules for transitioning between your states? If your chart has no states,
what are the rules for transitioning between branches of your flow logic?

Using your answers to those questions, specify state actions and transition conditions:

1 Draw states to represent your operating modes, if any. See Represent Operating
Modes Using States on page 4-5.
2 Implement the state actions by adding state labels that use the appropriate syntax.
See State Action Types on page 11-2.
3 Draw transitions to represent the direction of flow logic, between states or between
branches of your flow chart. See Transition Between Operating Modes on page
4-18.
4 Implement the transition conditions by adding transition labels that use the
appropriate syntax. See Transition Action Types on page 11-8.

Define Persistent Data to Store State Variables

After adding state actions and transition conditions to your chart, determine if the chart
requires any local or persistent data to store state variables. If so, follow these steps:

1 Add local data to the appropriate level of the chart hierarchy. See Add Stateflow
Data on page 8-2.

You can also use the Symbol Wizard to add data to your chart. See Define Chart
Symbols with the Symbol Wizard on page 28-33.
2 Specify the type, size, complexity, and other data properties. See Set Data
Properties on page 8-6.

4-3
4 Create Stateflow Charts

Simplify State Actions and Transition Conditions with Function Calls

State actions and transition conditions can be complex enough that defining them inline
on the state or transition is not feasible. In this case, express the actions or conditions
using one of the following types of Stateflow functions:

Flow chart Encapsulate flow charts containing if-then-else, switch-case, for, while,
or do-while patterns.
MATLAB Write matrix-oriented algorithms; call MATLAB functions for data
analysis and visualization.
Simulink Call Simulink function-call subsystems directly to streamline design and
improve readability.
Truth table Represent combinational logic for decision-making applications such as
fault detection and mode switching.

Use the function format that is most natural for the type of calculation in the state action
or transition condition. For more information on the four types of functions, see:

Reuse Logic Patterns Using Graphical Functions on page 7-32

MATLAB Functions in a Chart on page 26-2
Simulink Functions in Stateflow on page 27-2
What Is a Truth Table? on page 25-2

If the four types of Stateflow functions do not work, you can write your own C or C
++ code for integration with your chart. For more information about custom code
integration, see Share Data Using Custom C Code on page 28-25.

Check That Your System Representation Is Complete

Does your Stateflow chart fully express the logical or event-driven components of your
system?

If the answer is yes, you are done.

If the answer is no, you can create a separate chart or add hierarchy to your current
chart.

To create a new chart, repeat all the steps in this basic workflow.
To add hierarchy, repeat the previous three steps on lower levels of the current
chart.

4-4
 Represent Operating Modes Using States

Represent Operating Modes Using States

In this section...
Create a State on page 4-5
Move and Resize States on page 4-6
Create Substates and Superstates on page 4-6
Group States on page 4-6
Specify Substate Decomposition on page 4-8
Specify Activation Order for Parallel States on page 4-9
Change State Properties on page 4-9
Label States on page 4-15

Create a State
You create states by drawing them in the editor for a particular chart (block). Follow
these steps:

1 Select the State tool:

2 Move your pointer into the drawing area.

In the drawing area, the pointer becomes state-shaped (rectangular with oval
corners).
3 Click in a particular location to create a state.

The created state appears with a question mark (?) label in its upper left-hand
corner.
4 Click the question mark.

A text cursor appears in place of the question mark.

5 Enter a name for the state and click outside of the state when finished.

The label for a state specifies its required name and optional actions. See Label States
on page 4-15 for more detail.

4-5
4 Create Stateflow Charts

Move and Resize States

To move a state, do the following:

1 Click and drag the state.

2 Release it in a new position.

To resize a state, do the following:

1 Place your pointer over a corner of the state.

When your pointer is over a corner, it appears as a double-ended arrow (PC only;
pointer appearance varies with other platforms).
2 Click and drag the state's corner to resize the state and release the left mouse
button.

Create Substates and Superstates

A substate is a state that can be active only when another state, called its parent, is
active. States that have substates are known as superstates. To create a substate, click
the State tool and drag a new state into the state you want to be the superstate. A
Stateflow chart creates the substate in the specified parent state. You can nest states in
this way to any depth. To change a substate's parentage, drag it from its current parent
in the chart and drop it in its new parent.

Note: A parent state must be graphically large enough to accommodate all its substates.
You might need to resize a parent state before dragging a new substate into it. You
can bypass the need for a state of large graphical size by declaring a superstate to be a
subchart. See Encapsulate Modal Logic Using Subcharts on page 7-5 for details.

Group States
When to Group a State

Group a state to move all graphical objects inside a state together. When you group a
state, the chart treats the state and its contents as a single graphical unit. This behavior
simplifies editing of a chart. For example, moving a grouped state moves all substates
and functions inside that state.

4-6
 Represent Operating Modes Using States

How to Group a State

You can group a state by right-clicking it and then selecting Group & Subchart >
Group in the context menu. The state appears shaded in gray to indicate that it is now
grouped.

When to Ungroup a State

You must ungroup a state before performing these actions:

Selecting objects inside the state

Moving other graphical objects into the state

If you try to move objects such as states and graphical functions into a grouped
state, you see an invalid intersection error message. Also, the objects with an invalid
intersection have a red border.

How to Ungroup a State

You can ungroup a state by right-clicking it and then clearing Group & Subchart >
Group in the context menu. The background of the state no longer appears gray.

4-7
4 Create Stateflow Charts

Specify Substate Decomposition

You specify whether a superstate contains parallel (AND) states or exclusive (OR) states
by setting its decomposition. A state whose substates are all active when it is active has
parallel (AND) decomposition. A state in which only one substate is active when it is
active has exclusive (OR) decomposition. An empty state's decomposition is exclusive.

To alter a state's decomposition, select the state, right-click to display the state's
Decomposition context menu, and select OR (Exclusive) or AND (Parallel) from the
menu.

You can also specify the state decomposition of a chart. In this case, the Stateflow
chart treats its top-level states as substates. The chart creates states with exclusive
decomposition. To specify a chart's decomposition, deselect any selected objects, right-
click to display the chart's Decomposition context menu, and select OR (Exclusive) or
AND (Parallel) from the menu.

The appearance of a superstate's substates indicates the superstate's decomposition.

Exclusive substates have solid borders, parallel substates, dashed borders. A parallel
substate also contains a number in its upper right corner. The number indicates the
activation order of the substate relative to its sibling substates.

4-8
 Represent Operating Modes Using States

Specify Activation Order for Parallel States

You can specify activation order by using one of two methods: explicit or implicit
ordering.

By default, when you create a new Stateflow chart, explicit ordering applies. In this
case, you specify the activation order on a state-by-state basis.
You can also override explicit ordering by letting the chart order parallel states based
on location. This mode is known as implicit ordering.

For more information, see Explicit Ordering of Parallel States on page 3-79 and
Implicit Ordering of Parallel States on page 3-80.

Note: The activation order of a parallel state appears in its upper right corner.

Change State Properties

Use the State dialog box to view and change the properties for a state. To access the
State dialog box:

1 Right-click the state and select Properties.

The State properties dialog box appears. For descriptions of properties, see
Properties You Can Set in the General Pane on page 4-9 and Properties You
Can Set in the Logging Pane on page 4-11.
2 Modify property settings and then click one of these buttons:

Apply to save the changes and keep the State dialog box open
Cancel to return to the previous settings
OK to save the changes and close the dialog box
Help to display the documentation in an HTML browser window

Properties You Can Set in the General Pane

The General pane of the State properties dialog box appears as shown.

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4 Create Stateflow Charts

You can set these properties in the General pane.

Property Description
Name Stateflow chart name; read-only; click this hypertext link to
bring the state to the foreground.
Execution order Set the execution order of a parallel (AND) state. This
property does not appear for exclusive (OR) states. See
Execution Order for Parallel States on page 3-78.

4-10
 Represent Operating Modes Using States

Property Description
Create data for Select this option to create state activity data. See About
monitoring Active State Data on page 22-30.
Function Inline Select one of these options to control the inlining of state
Option functions in generated code:

Auto

Inlines state functions based on an internal heuristic.

Inline

Always inlines state functions in the parent function, as

long as the function is not part of a recursion. See Inline
State Functions in Generated Code (Simulink Coder)
Function

Creates separate static functions for each state.

Label The label for the state, which includes the name of the state
and its associated actions. See Label States on page 4-15.

Properties You Can Set in the Logging Pane

The Logging pane of the State properties dialog box appears as shown.

4-11
4 Create Stateflow Charts

You can set these properties in the Logging pane.

Property Description
Log self activity Saves the self activity value to the MATLAB workspace
during simulation.
Test point Designates the state as a test point that can be monitored
with a floating scope during model simulation. You can also

4-12
 Represent Operating Modes Using States

Property Description
log test point values into MATLAB workspace objects. See
Monitor Test Points in Stateflow Charts on page 29-44.
Logging name Specifies the name associated with the logged self activity.
Simulink software uses the signal name as its logging name
by default. To specify a custom logging name, select Custom
from the list box and enter the new name in the adjacent edit
field.
Limit data points to Limits the self activity logged to the most recent samples.
last
Decimation Limits self activity logged by skipping samples. For example,
a decimation factor of 2 saves every other sample.

Properties You Can Set in the Documentation Pane

The Documentation pane of the State properties dialog box appears as shown.

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4 Create Stateflow Charts

You can set these properties in the Documentation pane.

Property Description
Description Textual description or comment.
Document link Enter a URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit /spec/data/
speed.txt.

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 Represent Operating Modes Using States

Label States
The label for a state specifies its required name for the state and the optional actions
executed when the state is entered, exited, or receives an event while it is active.

State labels have the following general format.

name/
entry:entry actions
during:during actions
exit:exit actions
bind:data and events
on event_or_message_name:on event_or_message_name actions

The italicized entries in this format have the following meanings:

Keyword Entry Description

Not applicable name A unique reference to the state with optional slash
entry or en entry actions Actions executed when a particular state is entered
as the result of a transition taken to that state
during or du during actions Actions that are executed when a state receives an
event while it is active with no valid transition away
from the state
exit or ex exit actions Actions executed when a state is exited as the result
of a transition taken away from the state
bind data or events Binds the specified data or events to this state.
Bound data can be changed only by this state or its
children, but can be read by other states. Bound
events can be broadcast only by this state or its
children.
on A specified event or message
event_or_message_name

and and

on event_name Actions executed when a state is active and the

actions specified event occurs or message is present.

For more information, see How Events Work

in Stateflow Charts on page 9-2 and How

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4 Create Stateflow Charts

Keyword Entry Description

Messages Work in Stateflow Charts on page
10-2

Enter the Name

Initially, a state's label is empty. The Stateflow chart indicates this by displaying a ? in
the state's label position (upper left corner). Begin labeling the state by entering a name
for the state with the following steps:

1 Click the state.

The state turns to its highlight color and a question mark character appears in the
upper left-hand corner of the state.
2 Click the ? to edit the label.

An editing cursor appears. You are now free to type a label.

Enter the state's name in the first line of the state's label. Names are case sensitive.
To avoid naming conflicts, do not assign the same name to sibling states. However,
you can assign the same name to states that do not share the same parent.

After labeling the state, click outside it. Otherwise, continue entering actions. To
reedit the label, click the label text near the character position you want to edit.

Enter Actions

After entering the name of the state in the label, you can enter actions for any of the
following action types:

Entry Actions begin on a new line with the keyword entry or en, followed by a
colon, followed by one or more action statements on one or more lines. To separate
multiple actions on the same line, use a comma or a semicolon.

You can begin entry actions on the same line as the state's name. In this case, begin
the entry action with a forward slash (/) instead of the entry keyword.
Exit Actions begin on a new line with the keyword exit or ex, followed by a
colon, followed by one or more action statements on one or more lines. To separate
multiple actions on the same line, use a comma or a semicolon.

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 Represent Operating Modes Using States

During Actions begin on a new line with the keyword during or du, followed by
a colon, followed by one or more action statements on one or more lines. To separate
multiple actions on the same line, use a comma or a semicolon.
Bind Actions begin on a new line with the keyword bind followed by a colon,
followed by one or more data or events on one or more lines. To separate multiple
actions on the same line, use a comma or a semicolon.
On Actions begin with the keyword on, followed by a space and the name of an
event or message, followed by a colon, followed by one or more action statements on
one or more lines, for example
on ev1: exit();

To separate multiple actions on the same line, use a comma or a semicolon. If you
want different events to trigger different actions, enter multiple on blocks in the state
label. Each block specifies the action for a specific event or message, for example:
on ev1: action1(); on ev2: action2();

The execution of the actions you enter for a state is dependent only on their action type,
and not the order in which you enter actions in the label. If you do not specify the action
type explicitly for a statement, the chart treats that statement as an entry action.

Tip: You can also edit the label in the properties dialog box for the state. See Change
State Properties on page 4-9.

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4 Create Stateflow Charts

Transition Between Operating Modes

In this section...
Create a Transition on page 4-18
Label Transitions on page 4-19
Move Transitions on page 4-20
Change Transition Arrowhead Size on page 4-21
Create Self-Loop Transitions on page 4-22
Create Default Transitions on page 4-22
Change Transition Properties on page 4-22

Create a Transition
Follow these steps to create transitions between states and junctions:

1 Place your pointer on or close to the border of a source state or junction.

The pointer changes to crosshairs.

2 Click and drag a transition to a destination state or junction.
3 Release on the border of the destination state or junction.

Attached transitions obey the following rules:

Transitions do not attach to the corners of states. Corners are used exclusively for
resizing.
Transitions exit a source and enter a destination at angles perpendicular to the source
or destination surface.
All transitions have smart behavior.

To delete a transition, click it and select Edit > Cut, or press the Delete key.

See the following sections for help with creating self-loop and default transitions:

Create Self-Loop Transitions on page 4-22

Create Default Transitions on page 4-22

4-18
 Transition Between Operating Modes

Label Transitions
Transition labels contain syntax that accompanies the execution of a transition. The
following topics discuss creating and editing transition labels:

Edit Transition Labels on page 4-19

Transition Label Format on page 4-19

For more information on transition concepts, see Transition Label Notation on page
2-21.

For more information on transition label contents, see Transition Action Types on page
11-8.

Edit Transition Labels

Label unlabeled transitions as follows:

1 Select (left-click) the transition.

The transition changes to its highlight color and a question mark (?) appears on the
transition. The ? character is the default empty label for transitions.
2 Left-click the ? to edit the label.

You can now type a label.

To apply and exit the edit, deselect the object. To reedit the label, simply left-click the
label text near the character position you want to edit.

Transition Label Format

Transition labels have the following general format:

event_or_message [condition]{condition_action}/transition_action

Specify, as appropriate, relevant names for event_or_message, condition,

condition_action, and transition_action.

Label Field Description

event_or_message The event or message that causes the transition to be
evaluated.
condition Defines what, if anything, has to be true for the condition
action and transition to take place.

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4 Create Stateflow Charts

Label Field Description

condition_action If the condition is true, the action specified executes and
completes.
transition_action This action executes after the source state for the transition
is exited but before the destination state is entered.

Transitions do not need labels. You can specify some, all, or none of the parts of the label.
Rules for writing valid transition labels include:

Can have any alphanumeric and special character combination, with the exception of
embedded spaces
Cannot begin with a numeric character
Can have any length
Can have carriage returns in most cases
Must have an ellipsis (...) to continue on the next line

Move Transitions
You can move transition lines with a combination of several individual movements.
These movements are described in the following topics:

Bow the Transition Line on page 4-20

Move Transition Attach Points on page 4-21
Move Transition Labels on page 4-21

In addition, transitions move along with the movements of states and junctions.

Bow the Transition Line

You can move or "bow" transition lines with the following procedure:

1 Place your pointer on the transition at any point along the transition except the
arrow or attach points.
2 Click and drag your pointer to move the transition point to another location.

Only the transition line moves. The arrow and attachment points do not move.
3 Release the mouse button to specify the transition point location.

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 Transition Between Operating Modes

The result is a bowed transition line. Repeat the preceding steps to move the transition
back into its original shape or into another shape.

Move Transition Attach Points

You can move the source or end points of a transition to place them in exact locations as
follows:

1 Place your pointer over an attach point until it changes to a small circle.
2 Click and drag your pointer to move the attach point to another location.
3 Release the mouse button to specify the new attach point.

The appearance of the transition changes from a solid to a dashed line when you detach
and release a destination attach point. Once you attach the transition to a destination,
the dashed line changes to a solid line.

The appearance of the transition changes to a default transition when you detach and
release a source attach point. Once you attach the transition to a source, the appearance
returns to normal.

Move Transition Labels

You can move transition labels to make the Stateflow chart more readable. To move a
transition label, do the following:

1 Click and drag the label to a new location.

2 Release the left mouse button.

If you mistakenly click and then immediately release the left mouse button on the label,
you will be in edit mode for the label. Press the Esc key to deselect the label and try
again. You can also click the mouse on an empty location in the chart to deselect the
label.

Change Transition Arrowhead Size

The arrowhead size is a property of the destination object. Changing one of the incoming
arrowheads of an object causes all incoming arrowheads to that object to be adjusted to
the same size. The arrowhead size of any selected transitions, and any other transitions
ending at the same object, is adjusted.

To adjust arrowhead size:

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4 Create Stateflow Charts

1 Select the transitions whose arrowhead size you want to change.

2 Place your pointer over a selected transition and right-click to select Arrowhead
Size.
3 Select an arrowhead size from the menu.

Create Self-Loop Transitions

A self-loop transition is a transition whose source and destination are the same state or
junction. To create a self-loop transition:

1 Create the transition by clicking and dragging from the source state or junction.
2 Press the S key or right-click your mouse to enable a curved transition.
3 Continue dragging the transition tip back to a location on the source state or
junction.

For the semantics of self-loops, see Self-Loop Transitions on page 2-28.

Create Default Transitions

A default transition is a transition with a destination (a state or a junction), but no
apparent source object.

Click the Default Transition button in the toolbar and click a location in the
drawing area close to the state or junction you want to be the destination for the default
transition. Drag your pointer to the destination object to attach the default transition.

The size of the endpoint of the default transition is proportional to the arrowhead size.
See Change Transition Arrowhead Size on page 4-21.

Default transitions can be labeled just like other transitions. See Label Default
Transitions on page 2-35 for an example.

Change Transition Properties

Use the Transition properties dialog box to view and change the properties for a
transition. To access the dialog box for a particular transition:

1 Right-click the transition and select Properties.

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 Transition Between Operating Modes

The Transition properties dialog box appears.

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4 Create Stateflow Charts

4-24
 Transition Between Operating Modes

The following transition properties appear in the dialog box:

Field Description
Source Source of the transition; read-only; click the hypertext
link to bring the transition source to the foreground.
Destination Destination of the transition; read-only; click the
hypertext link to bring the transition destination to
the foreground.
Parent Parent of this state; read-only; click the hypertext link
to bring the parent to the foreground.
Execution order The order in which the chart executes the transition.
Label The transition's label. See Transition Label Notation
on page 2-21 for more information on valid label
formats.
Description Textual description or comment.
Document link Enter a Web URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit/spec/data/
speed.txt.
2 After making changes, click one of these buttons:

Apply to save the changes and keep the Transition dialog box open.
Cancel to return to the previous settings for the dialog box.
OK to save the changes and close the dialog box.
Help to display Stateflow online help in an HTML browser window.

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4 Create Stateflow Charts

Stateflow Editor Operations

In this section...
Stateflow Editor on page 4-26
Undo and Redo Editor Operations on page 4-31
Specify Colors and Fonts in a Chart on page 4-31
Content Preview for Stateflow Objects on page 4-34
Intelligent Tab Completion for Stateflow Charts on page 4-35
Differentiate Elements of Action Language Syntax on page 4-36
Select and Deselect Graphical Objects on page 4-38
Cut and Paste Graphical Objects on page 4-38
Copy Graphical Objects on page 4-39
Comment Out Objects on page 4-39
Format Chart Objects on page 4-39
Generate a Model Report on page 4-54

Stateflow Editor
Use the Stateflow Editor to draw, zoom, modify, print, and save a chart shown in the
window.

Opening a Stateflow chart displays the chart in the Stateflow Editor.

To open a new Stateflow chart in the Stateflow Editor:

1 At the MATLAB command prompt, enter:

Command Result
sfnew Creates an chart with the default action
language. For more information, see
sfnew.
sfnew -matlab Creates an empty chart with MATLAB as
the action language.
sfnew -C Creates an empty C chart.

4-26
 Stateflow Editor Operations

Command Result
stateflow Creates an empty chart with the default
action language and displays the
Stateflow block library.

The Simulink Editor opens, with an empty chart.

2 Double-click the chart object.

The Stateflow Editor opens.

The Stateflow Editor window includes the following sections:

Title bar

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4 Create Stateflow Charts

The full chart name appears here in model name/chart name* format. The *
character appears on the end of the chart name for a newly created chart or for an
existing chart that has been edited but not saved yet.
Menu bar and toolbar

Most editor commands are available from the menu bar. The toolbar contains buttons
for cut, copy, paste, and other commonly used editor commands. You can identify each
tool of the toolbar by placing your pointer over it until an identifying tool tip appears.
The toolbar also contains buttons for navigating a chart's subchart hierarchy (see
Navigate Subcharts on page 7-9).
Object palette

4-28
 Stateflow Editor Operations

Displays a set of tools for drawing states, transitions, and other chart objects. To add
an object, you can use the palette to:

Click the icon for the object and move the cursor to the spot in the drawing area
where you want to place the object.
Drag the icon for the object into the drawing area.
Double-click the icon and then click multiple times in the drawing area to make
copies of the object.
Explorer bar

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4 Create Stateflow Charts

The breadcrumb shows the systems that you have open in the editor. Click a system
in the breadcrumb to display that system.
Model Browser

Click the double arrows in the bottom left corner to open or close a tree-
structured view of the model in the editor.
Drawing area This area displays an editable copy of a chart.
Context menus (shortcut menus) These menus pop up from the drawing area
when you right-click an object. They display commands that apply only to that object.
If you right-click an empty area of the chart, the shortcut menu applies to the chart
object.

Status information Near the top of the editor, you can see (and reset) the
simulation time and the simulation mode. The bottom status bar displays the status
of the Stateflow processing, tool tips, the zoom factor, and the solver.

4-30
 Stateflow Editor Operations

Undo and Redo Editor Operations

You can undo and redo operations that you perform in a chart. When you undo an
operation, you reverse the last edit operation that you performed. After you undo
operations in the chart, you can also redo them one at a time.

To undo an operation in the chart, select Edit > Undo.

To redo an operation in the chart, select Edit > Redo.

You can undo and redo many operations you complete on Stateflow objects in the
Symbols or Property Inspector windows.

Exceptions for Undo

You can undo or redo all editor operations, with the following exceptions:

You cannot undo the operation of turning subcharting off for a state previously
subcharted.

To understand subcharting, see Encapsulate Modal Logic Using Subcharts on page

7-5.
You cannot undo the drawing of a supertransition or the splitting of an existing
transition.

Splitting of an existing transition refers to the redirection of the source or destination

of a transition segment that is part of a supertransition. For a description of
supertransitions, see Draw a Supertransition Into a Subchart on page 7-12and
Draw a Supertransition Out of a Subchart on page 7-17.
You cannot undo any changes made to the chart using the Stateflow API.

For a description of the Stateflow API, see Programmatic Interface.

Note: When you perform one of the preceding operations, the undo and redo buttons
are disabled from undoing and redoing any prior operations.

Specify Colors and Fonts in a Chart

You can specify the color and font for items in a chart, for a single item or all items in the
chart.

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4 Create Stateflow Charts

Change Fonts for a Single Item

You can change the font for a single item as follows:

1 Right-click the item.

2 In the context menu, select the font type, style, and size from Format > Font Style.

Colors & Fonts Dialog Box

The Colors & Fonts dialog box helps you specify a color scheme for the chart as a whole,
or colors and label fonts for different types of objects in a chart.

To display the Colors & Fonts dialog box, in the Stateflow Editor, select File > Stateflow
Preferences > Style.

The drawing area of the dialog box displays examples of the types of objects whose colors
and font labels you can specify. The examples use the colors and label fonts specified by

4-32
 Stateflow Editor Operations

the current color scheme for the chart. To choose another color scheme, select the scheme
from the dialog box's Schemes menu. The dialog box displays the selected color scheme.
Click Apply to apply the selected scheme to the chart or OK to apply the scheme and
dismiss the dialog box.

To make the selected scheme the default scheme for all charts, select Make this the
"Default" scheme from the dialog box's Options menu.

To modify the current scheme, position your pointer over the example of the type of object
whose color or label font you want to change. Then left-click to change the object's color or
right-click to change the object's font. If you left-click, a color chooser dialog box appears.

Use the dialog box to select a new color for the selected object type.

If the selected object is a label and you right-click, a font selection dialog box appears.

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4 Create Stateflow Charts

Use the font selector to choose a new font for the selected label.

To save changes to the default color scheme, select Save defaults to disk from the
Colors & Fonts dialog box's Options menu.

Note: Choosing Save defaults to disk has no effect if the modified scheme is not the
default scheme.

Content Preview for Stateflow Objects

When a chart is closed, you can preview the content of Stateflow charts in Simulink.
You can see an outline of the contents of a chart. During simulation you can see chart
animation. When a chart is open, you can preview the content of subcharts and Simulink
functions.

4-34
 Stateflow Editor Operations

For example, the Temporal Logic chart uses content preview. The chart Without
Temporal Logic does not.

To turn on content preview for Stateflow charts and subcharts, right-click the chart and
select Format > Content Preview. For Simulink functions, right-click the function
and select Content Preview. For details on content preview in Simulink, see Preview
Content of Hierarchical Items (Simulink).

Note: In order to see the content preview, you may need to enlarge the Stateflow chart or
object.

Intelligent Tab Completion for Stateflow Charts

Stateflow tab completion provides context-sensitive editing assistance. Tab completion
helps you avoid typographical errors. It also helps you quickly select syntax-appropriate

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4 Create Stateflow Charts

options for keywords, data, event, messages, and function names, without having to
navigate the Model Explorer. In a Stateflow chart, to complete entries:

1 Type the first few characters of the word that you want.
2 Press Tab to see the list of possible matches.
3 Use the arrow keys to select a word.
4 Press Tab to make the selection.

Additionally, you can:

Close the list without selecting anything by pressing the Esc key.
Type additional characters onto your original term to narrow the list of possible
matches.

If you press Tab and no words are listed, then the current word is the only possible
match.

Differentiate Elements of Action Language Syntax

You can use color highlighting to differentiate the following syntax elements:

Keyword
Comment
Event
Message
Function
String
Number

Syntax highlighting is a user preference, not a model preference.

Default Syntax Highlighting

The following chart illustrates the default highlighting for language elements.

4-36
 Stateflow Editor Operations

If the parser cannot resolve a syntax element, the chart displays the element in the
default text color.

To modify color assignments, see Edit Syntax Highlighting on page 4-37. To disable
syntax highlighting, see Enable and Disable Syntax Highlighting on page 4-37.

Edit Syntax Highlighting

1 In the Stateflow Editor, select File > Stateflow Preferences > Syntax
Highlighting.

The Syntax Highlight Preferences dialog box appears.

2 Click the color that you want to change, choose an alternative from the color palette,
and click Apply.
3 Click OK to close the Syntax Highlight Preferences dialog box.

Enable and Disable Syntax Highlighting

1 In the Stateflow Editor, select File > Stateflow Preferences > Syntax
Highlighting.

4-37
4 Create Stateflow Charts

The Syntax Highlight Preferences dialog box appears.

2 Select or clear Enable syntax highlighting and click OK.

Select and Deselect Graphical Objects

Once an object is in the drawing area, to make any changes or additions to that object,
select it.

To select an object, click anywhere inside of the object.

To select multiple adjacent objects, click and drag a selection box so that the box
encompasses or touches the objects that you want to select, and then release the
mouse button.

All objects or portions of objects within the box become selected.

To select multiple separate objects, simultaneously press the Shift key and click an
object or box a group of objects.

This step adds objects to the list of already selected objects unless an object was
already selected, in which case, the object is deselected. This type of multiple object
selection is useful for selecting objects within a state without selecting the state itself.
To deselect all selected objects, click in the drawing area, but not on an object.

When an object is selected, it appears highlighted in the color set as the selection color
(blue by default; see Specify Colors and Fonts in a Chart on page 4-31 for more
information).

Cut and Paste Graphical Objects

You can cut objects from the drawing area or cut and then paste them as many times as
you like. You can cut and paste objects from one chart to another. The chart retains a
selection list of the most recently cut objects. The objects are pasted in the drawing area
location closest to the current pointer location.

To cut an object, right-click the object and select Cut from the context menu.
To paste the most recently cut selection of objects, right-click in the chart and select
Paste from the context menu.

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 Stateflow Editor Operations

Copy Graphical Objects

To copy and paste an object in the drawing area, select the objects and right-click and
drag them to the desired location in the drawing area. This operation also updates the
chart's clipboard.

Note: If you copy and paste a state in the chart, these rules apply:

If the original state uses the default ? label, then the new state retains that label.
If the original state does not use the default ? label, then a unique name is generated
for the new state.

Alternatively, to copy from one chart to another, select Copy and then Paste from the
right-click context menu.

Comment Out Objects

To Comment Out a Stateflow object, right-click the selected object and select Comment
Out. For more information, see Commenting Stateflow Objects in a Chart on page
29-69.

Format Chart Objects

To enhance readability of objects in a chart, in the Stateflow Editor you can use
commands in the Chart > Arrange menu. These commands include options for:

Alignment
Distribution
Resizing

You can align, distribute, or resize these chart objects:

States
Functions
Boxes

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4 Create Stateflow Charts

Junctions

Align, Distribute, and Resize Chart Objects

The basic steps to align, distribute, or resize chart objects are similar.

1 If the chart includes parallel states or outgoing transitions from a single source,
make sure that the chart uses explicit ordering.

To set explicit ordering, in the Chart properties dialog box, select User specified
state/transition execution order.

Note: If a chart uses implicit ordering to determine execution order of parallel states
or evaluation order of outgoing transitions, the order can change after you align,
distribute, or resize chart objects. Using explicit ordering prevents this change from
occurring. For more information, see Execution Order for Parallel States on page
3-78 and Evaluation Order for Outgoing Transitions on page 3-60.
2 Select the chart objects that you want to align, distribute, or resize.

You can select objects in any order, one-by-one or by drawing a box around them.
3 Decide which object to use as the anchor for aligning, distributing, or resizing other
chart objects. This object is the reference object.

To set an object as the reference, right-click the object. Brackets appear around the
reference object. In the following example, the Door and Motion states are selected,
and the Door state is the reference.

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 Stateflow Editor Operations

Note: If you select objects one-by-one, the last object that you select acts as the
reference.
4 Select an option from the Chart > Arrange menu to align, distribute, or resize your
chosen objects.

For more information about chart object distribution options, see Options for
Distributing Chart Objects on page 4-41

Options for Distributing Chart Objects

This option... Distributes selected objects so that...

Distribute Horizontally The center-to-center horizontal distance between
any two objects is the same.

Note: The horizontal space for distribution is the

distance between the left edge of the leftmost
object and the right edge of the rightmost

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4 Create Stateflow Charts

This option... Distributes selected objects so that...

object. If the total width of the objects you select
exceeds the horizontal space available, objects
can overlap after distribution.
Distribute Vertically The center-to-center vertical distance between
any two objects is the same.

Note: The vertical space for distribution is the

distance between the top edge of the highest
object and the bottom edge of the lowest object. If
the total height of the objects you select exceeds
the vertical space available, objects can overlap
after distribution.
Even Horizontal Gaps The horizontal white space between any two
objects is the same.

Note: The space restriction for Distribute

Horizontally applies.
Even Vertical Gaps The vertical white space between any two objects
is the same.

Note: The space restriction for Distribute

Vertically applies.

Example of Aligning Chart Objects

Suppose that you open the sf_pool model and see a chart with multiple MATLAB
functions.

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 Stateflow Editor Operations

To align the three MATLAB functions on the right:

1 Type sf_pool at the MATLAB command prompt to open the model. Double-click the
Pool block to open the chart.

Tip: Expand the Stateflow Editor to see the entire chart.

2 Click the function isAnyBallGoingToStop.
3 Shift-click the function isAnyBallNewlyPocketed.
4 Shift-click the function getBallInteraction.

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4 Create Stateflow Charts

This object is the reference (or anchor) for aligning the three functions. Brackets
appear around the function.

5 Select Chart > Arrange > Align Right.

This step aligns the right edges of the three functions based on the right edge of
getBallInteraction.

4-44
 Stateflow Editor Operations

Example of Distributing Chart Objects

Suppose that you open the sf_frame_sync_controller model and see a chart with
three states.

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4 Create Stateflow Charts

To distribute the three states vertically:

1 Type sf_frame_sync_controller at the MATLAB command prompt to open the

model.

Tip: Double-click the Frame Sync Controller block to open the chart.
2 Select the three states in any order.

Shift-click to select more than one state.

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Stateflow Editor Operations

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4 Create Stateflow Charts

Note: When you select the three states in any order, your reference object might
differ from the one shown. This difference does not affect distribution of vertical
white space.
3 Select Chart > Arrange > Even Vertical Gaps.

This step ensures that the vertical white space between any two states is the same.

Example of Resizing Chart Objects

Suppose that you open the sf_clutch model and see a chart with graphical functions of
different sizes.

To resize the graphical functions so that they all match the size of detectSlip:

1 Type sf_clutch at the MATLAB command prompt to open the model.

2 In the Friction Mode chart, select the three graphical functions by drawing a box
around them.
3 Set detectSlip as the reference object to use for resizing.

Right-click the function to mark it with brackets.

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 Stateflow Editor Operations

4 Select Chart > Arrange > Match Size.

This step ensures that the three functions are the same size.

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4 Create Stateflow Charts

5 Adjust the function boxes to correct the format:

a To align the functions, select Chart > Arrange > Align Left.

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 Stateflow Editor Operations

b To distribute the functions evenly in terms of vertical spacing, select Chart >
Arrange > Even Vertical Gaps.

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4 Create Stateflow Charts

Automatic Chart Formatting

With Arrange Automatically, Stateflow arranges your charts to:

Expand states and transitions to fit their label strings.

Resize similar states to be the same size.
Align states if they were slightly misaligned.

4-52
 Stateflow Editor Operations

Straightens transitions.
Repositions horizontal transition labels to the midpoint.

To format your chart, select Chart > Arrange > Arrange Automatically.

In this example, the chart has:

1 State actions that are outside of the boundary for state A.

2 A transition condition that overlaps state B.
3 A transition that is not horizontal.

After the layout has been automatically arranged:

1 The state actions are contained within state A.

2 The transition condition does not overlap into state B.
3 The lower transition is horizontal.

4-53
4 Create Stateflow Charts

Generate a Model Report

The Print Details report is an extension of the Print Details report in the Simulink
model window. It provides a report of Stateflow and Simulink objects relative to the chart
currently in view from which you select the report.

To generate a model report on chart objects:

1 Open the chart or subchart for which you want a report.

2 In the editor, select File > Print > Print Details.

The Print Details dialog box appears.

4-54
 Stateflow Editor Operations

3 Enter the destination directory of the report file and select options to specify what
objects appear in the report.

For details on setting the fields in the File locations/naming options section, see
Print Model Reports (Simulink). For details on the report you receive, see System
Report Options on page 4-56 and Report Format on page 4-56.
4 Click Print.

The Print Details dialog box appears and tracks the report generation. See Print Model
Reports (Simulink) for more details on this window.

The HTML report appears in your default browser.

Tip: If you have the Simulink Report Generator installed, you can generate a detailed
report about a system. To do so, in the Simulink Editor, select File > Reports >
System Design Description. For more information, see System Design Description
(Simulink Report Generator).

4-55
4 Create Stateflow Charts

System Report Options

Reports for the current Stateflow chart vary with your choice of one of the System
reporting options fields:

Current Reports on the chart or subchart in the current editor window and its
immediate parent Simulink system.
Current and above This option is grayed out and unavailable for printing chart
details.
Current and below Reports on the chart or subchart in the current editor window
and all contents at lower levels of the hierarchy, along with the immediate Simulink
system.
Entire model Reports on the entire model including all charts and all Simulink
systems.

If you select this option, you can modify the report as follows:

Look under mask dialog Includes the contents of masked subsystems in the
report.
Expand unique library links Includes the contents of library blocks that are
subsystems in the report.

The report includes a library subsystem only once even if it occurs in more than
one place in the model.

Report Format

The general top-down format of the Print Details report is as follows:

The report shows the title of the system in the Simulink model containing the chart or
subchart in current view.
A representation of Simulink hierarchy for the containing system and its subsystems
follows. Each subsystem in the hierarchy links to the report of its Stateflow charts.
The report section for the Stateflow charts of each system or subsystem begins with a
small report on the system or subsystem, followed by a report of each contained chart.
Each chart report includes a reproduction of its chart with links for subcharted states
that have reports of their own.
An appendix tabulates the covered Stateflow and Simulink objects in the report.

4-56
 5

Model Logic Patterns and Iterative

Loops Using Flow Charts

What Is a Flow Chart? on page 5-2

Difference Between Flow Charts and State Transition Diagrams on page 5-3
When to Use Flow Charts on page 5-4
Create Flow Charts with the Pattern Wizard on page 5-5
Draw and Customize Flow Charts By Hand on page 5-29
Best Practices for Creating Flow Charts on page 5-31
5 Model Logic Patterns and Iterative Loops Using Flow Charts

What Is a Flow Chart?

A flow chart is a graphical construct that models logic patterns by using connective
junctions and transitions. The junctions provide decision branches between alternate
transition paths. You can use flow charts to represent decision and iterative loop logic.

Here is an example of a flow chart that models simple if-else logic:

This flow chart models the following code:

if (u > 0)
{
y = 1;
}
else
{
y = 0;
}

5-2
 Difference Between Flow Charts and State Transition Diagrams

Difference Between Flow Charts and State Transition Diagrams

A flow chart is used for combinatorial design. It is a stateless flow chart because it
cannot maintain its active state between updates. As a result, a flow chart always begins
executing from a default transition and ends at a terminating junction (a junction that
has no valid outgoing transitions).

By contrast, a state transition diagram is used for sequential design. It stores its current
state in memory to preserve local data and activity between updates. As a result, state
diagrams can begin executing where they left off in the previous time step, making them
suitable for modeling reactive or supervisory systems that depend on history. In these
kinds of systems, the current result depends on a previous result.

Related Examples
Create Flow Charts with the Pattern Wizard on page 5-5

More About
States on page 2-7
Transitions on page 2-19

5-3
5 Model Logic Patterns and Iterative Loops Using Flow Charts

When to Use Flow Charts

Use flow charts to represent combinatorial logic in graphical functions or between states
in a chart. A best practice is to encapsulate flow charts in graphical functions to create
modular, reusable decision and loop logic that you can call anywhere in a chart. For
more information about graphical functions, see Reuse Logic Patterns Using Graphical
Functions on page 7-32.

5-4
 Create Flow Charts with the Pattern Wizard

Create Flow Charts with the Pattern Wizard

In this section...
Why Use the Pattern Wizard? on page 5-5
How to Create Reusable Flow Charts on page 5-5
Insert a Logic Pattern Using the Pattern Wizard on page 5-7
Save and Reuse Flow Chart Patterns on page 5-10
MAAB-Compliant Patterns from the Pattern Wizard on page 5-12
Create and Reuse a Custom Pattern with the Pattern Wizard on page 5-21

Why Use the Pattern Wizard?

The Pattern Wizard is a utility that generates common flow chart patterns for use in
graphical functions and charts. Although you can also create flow charts by hand, the
Pattern Wizard offers several advantages:

Generates common logic and iterative loop patterns automatically

Generates patterns that comply with guidelines from the MathWorks Automotive
Advisory Board (MAAB)
Promotes consistency in geometry and layout across patterns
Facilitates storing and reusing patterns from a central location
Provides ability to insert patterns in existing flow graph

Note: The Pattern Wizard is only used for flow charts, and cannot be used to save states
and subcharts. Atomic subcharts can be used to reuse states and subcharts.

How to Create Reusable Flow Charts

When you create flow charts with the Pattern Wizard, you can save them to a central
location where you can retrieve them for reuse. To create reusable flow charts that
comply with MAAB guidelines:

1 Open a chart.

5-5
5 Model Logic Patterns and Iterative Loops Using Flow Charts

How do I create and open a new Stateflow chart?

a Type sfnew or stateflow at the MATLAB command prompt.

A model opens, containing an empty chart.

b Double-click the chart to open it.
2 Select a flow chart pattern:

To Create: Select: Reference

if decision patterns Chart > Add Pattern in Decision Logic Patterns
Chart > Decision in Flow Charts on page
5-12
for-, while-, and Chart > Add Pattern in Iterative Loop Patterns
do-while-loop patterns Chart > Loop in Flow Charts on page
5-16
switch patterns Chart > Add Pattern in Switch Patterns in Flow
Chart > Switch Charts on page 5-17

The Stateflow Patterns dialog box appears.

3 Enter a description of your pattern (optional).
4 Specify conditions and actions (optional).

You can also add or change conditions and actions directly in the chart.
5 Click OK.

The pattern appears in your chart. The geometry and layout comply with MAAB
guidelines.
6 Customize the pattern as desired.

For example, you may want to add or change flow charts, conditions, or actions. See
Create and Reuse a Custom Pattern with the Pattern Wizard on page 5-21.
7 Save the pattern to a central location as described in Save and Reuse Flow Chart
Patterns on page 5-10.

You can now retrieve your pattern directly from the editor to reuse in graphical functions
and charts. See How to Add Flow Chart Patterns in Graphical Functions on page
5-11 and How to Add Flow Chart Patterns in Charts on page 5-11.

5-6
 Create Flow Charts with the Pattern Wizard

Insert a Logic Pattern Using the Pattern Wizard

Using the Pattern Wizard, you can add loop or decision logic extensions to a previously
created pattern in a flow chart. Select an eligible vertical transition, and then select
Chart > Insert Pattern on Selection. After you select one of the decision or loop
patterns, the Pattern Wizard places the new pattern below the action along the
transition path.

When you create logic extensions, the following rules apply:

Select only one exactly vertical transition to extend at a time.

Select a vertical transition that has a destination junction.
Extend only a flow chart that was created by the Pattern Wizard.
Extend only a flow chart that has junctions and transitions in the chart, not other
objects.
Do not extend a pattern that has been custom-created or modified.
You cannot choose a custom pattern as the extension.

If your selection is not eligible, when you select Chart > Insert Pattern on Selection,
you see a message instead of pattern options.

Message Issue
Select a vertical transition You have not selected a vertical transition.
Selected transition must be exactly vertical You selected a transition, but it is not
vertical.
Select only one vertical transition You have selected more than one
transition.
Editor must contain only transitions and There are other objects, such as states,
junctions functions or truth tables in the editor.

Insert a Pattern

In this example, you add an if-else pattern into a while-loop body.

1 Open a chart.
2 Select Chart > Add Pattern in Chart > Loop > While.

5-7
5 Model Logic Patterns and Iterative Loops Using Flow Charts

3 Enter a description of your pattern (optional).

4 Specify conditions and actions (optional).

You can also add or change conditions and actions directly in the chart.
5 Click OK.

The while pattern appears in your chart.

6 Select the vertical transition labeled {action1}.

7 Select Chart > Insert Pattern on Selection > Decision > If-Else.
8 Click OK.

The if-else pattern is added to the while-loop below {action1}.

5-8
Create Flow Charts with the Pattern Wizard

5-9
5 Model Logic Patterns and Iterative Loops Using Flow Charts

Save and Reuse Flow Chart Patterns

Using the Pattern Wizard, you can save flow chart patterns in a central location, then
easily retrieve and reuse them in Stateflow graphical functions and charts. The Pattern
Wizard lets you access all saved patterns from the editor.

Guidelines for Creating a Pattern Folder

The Pattern Wizard uses a single, flat folder for saving and retrieving flow chart
patterns. Follow these guidelines when creating your pattern folder:

Store all flow charts at the top level of the pattern folder; do not create subfolders.
Make sure all flow chart files have a .mdl or .slx extension.

How to Save Flow Chart Patterns for Easy Retrieval

1 Create a folder for storing your patterns according to Guidelines for Creating a
Pattern Folder on page 5-10.
2 In your chart, select flow charts with the patterns you want to save.
3 Select Chart > Save Pattern.

The Pattern Wizard displays a message that prompts you to choose a folder for
storing custom patterns.

The Pattern Wizard stores your flow charts in the pattern folder as a model file.
The patterns that you save in this folder appear in a drop-down list when you select
Chart > Add Pattern in Chart > Custom, as described in How to Add Flow Chart
Patterns in Graphical Functions on page 5-11 and How to Add Flow Chart
Patterns in Charts on page 5-11.
4 Click OK to dismiss the message.

The Browse For Folder dialog box appears.

5 Select the designated folder (or create a new folder) and click OK.

The Save Pattern As dialog box appears.

6 Enter a name for your pattern and click Save.

The Pattern Wizard saves your pattern as a model file in the designated folder.

5-10
 Create Flow Charts with the Pattern Wizard

How to Change Your Pattern Folder

1 Rename your existing pattern folder.

2 Add a pattern as described in How to Add Flow Chart Patterns in Graphical
Functions on page 5-11 or How to Add Flow Chart Patterns in Charts on page
5-11.

The Pattern Wizard prompts you to choose a folder.

3 Follow the instructions in How to Save Flow Chart Patterns for Easy Retrieval on
page 5-10.

How to Add Flow Chart Patterns in Graphical Functions

1 Add a graphical function to your chart.

See Create a Graphical Function on page 7-23.

2 Make the graphical function into a subchart by right-clicking in the function box and
selecting Group & Subchart > Subchart.

The function box turns gray.

3 Double-click the subcharted graphical function to open it.
4 In the menu bar, select Chart > Add Pattern in Function > Custom.

The Select a Custom Pattern dialog box appears, displaying all of your saved
patterns.

Why does my dialog box not display any patterns?

You have not saved any patterns for the Pattern Wizard to retrieve. See Save and
Reuse Flow Chart Patterns on page 5-10.
5 Select a pattern from the list in the dialog box and click OK.

The pattern appears in the graphical function, which expands to fit the flow chart.
6 Define all necessary inputs, outputs, and local data in the graphical function and the
chart that calls it.

How to Add Flow Chart Patterns in Charts

1 In the menu bar, select Chart > Add Pattern in Chart > Custom.

5-11
5 Model Logic Patterns and Iterative Loops Using Flow Charts

The Select a Custom Pattern dialog box appears, displaying all of your saved
patterns.
2 Select a pattern from the list in the dialog box and click OK.

The pattern appears in the chart.

3 Adjust the chart by hand to:

Connect the flow charts to the appropriate transitions.

Ensure that there is only one default transition for exclusive (OR) states at each
level of hierarchy.
Define all necessary inputs, outputs, and local data.

MAAB-Compliant Patterns from the Pattern Wizard

The Pattern Wizard generates MAAB-compliant flow charts.

Decision Logic Patterns in Flow Charts

The Pattern Wizard generates the following MAAB-compliant decision logic patterns:

if

5-12
 Create Flow Charts with the Pattern Wizard

if-else

if-elseif

5-13
5 Model Logic Patterns and Iterative Loops Using Flow Charts

if-elseif-else

5-14
 Create Flow Charts with the Pattern Wizard

if-elseif-elseif-else

5-15
5 Model Logic Patterns and Iterative Loops Using Flow Charts

Nested if

Iterative Loop Patterns in Flow Charts

The Pattern Wizard generates the following MAAB-compliant iterative loop patterns:

for

5-16
 Create Flow Charts with the Pattern Wizard

while

do-while

Switch Patterns in Flow Charts

The Pattern Wizard generates the following MAAB-compliant switch patterns:

5-17
5 Model Logic Patterns and Iterative Loops Using Flow Charts

switch with two cases and default

5-18
 Create Flow Charts with the Pattern Wizard

switch with three cases and default

5-19
5 Model Logic Patterns and Iterative Loops Using Flow Charts

switch with four cases and default

5-20
 Create Flow Charts with the Pattern Wizard

Create and Reuse a Custom Pattern with the Pattern Wizard

This example shows how to create, modify, and save a custom flow chart pattern for
iterating over the upper triangle of a two-dimensional matrix. In the upper triangle, the
row index i is always less than or equal to column index j. This flow chart pattern uses
nested for-loops to ensure that i never exceeds j.

Create the Upper Triangle Iterator Pattern

1 Open a new (empty) chart.

2 Select Chart > Add Pattern in Chart > Loop > For.
3 In the Stateflow Patterns dialog box, enter the initializer, loop test, and counting
expressions for iterating through the first dimension of the matrix, as follows:

Do not specify an action yet. You will add another loop for iterating the second
dimension of the matrix.
4 Click OK.

The Pattern Wizard generates the first iterative loop in your chart.

5-21
5 Model Logic Patterns and Iterative Loops Using Flow Charts

This pattern:

Conforms to all best practices for creating flow charts, as described in Best
Practices for Creating Flow Charts on page 5-31.
Provides the correct syntax for conditions and condition actions.
5 Add the second loop:

a Expand the editor window so the chart can accommodate a second pattern.
b Select the vertical transition labelled {action1}.
c Select Chart > Insert Pattern on Selection > Loop > For.
d Enter the initializer, loop test, and counting expressions for the second iterator
j, and a placeholder for an action to retrieve each element in the upper triangle
as follows:

5-22
 Create Flow Charts with the Pattern Wizard

e Click OK. The Pattern Wizard adds the second loop to the first loop.

5-23
5 Model Logic Patterns and Iterative Loops Using Flow Charts

6 Save your chart.

Save your pattern to a central location for reuse (see Save the Upper Triangle Iterator
Pattern for Reuse on page 5-24).

Save the Upper Triangle Iterator Pattern for Reuse

1 Create a folder for storing flow chart patterns, as described in Guidelines for
Creating a Pattern Folder on page 5-10.
2 Open the chart that contains the custom pattern.
3 In the chart, select the flow chart with the pattern that you want to save.
4 In the editor, select Chart > Save Pattern and take one of these actions.

5-24
 Create Flow Charts with the Pattern Wizard

If you have... Then Pattern Wizard... Action

Not yet designated the Prompts you to create or Select the folder you just
pattern folder select a pattern folder created. See How to Save
Flow Chart Patterns for
Easy Retrieval on page
5-10.
Already designated the Prompts you to save your Name your pattern and
pattern folder pattern to the designated click Save.
folder

The Pattern Wizard automatically saves your pattern as a model file under the name
that you specify.

Add the Upper Triangle Iterator Pattern to a Graphical Function

1 Open a new chart.

2 Drag a graphical function into the chart from the object palette.
3 Enter the following function signature:

function y = ut_iterator(u, numrow, numcol)

The function takes three inputs.

Input Description
u 2-D matrix
numrow Number of rows in the matrix
numcol Number of columns in the matrix
4 Right-click inside the function and select Group & Subchart > Subchart.

The function looks like this graphic.

5-25
5 Model Logic Patterns and Iterative Loops Using Flow Charts

5 Double-click to open the subcharted function and select Chart > Add Pattern in
Function > Custom.

The Select a Custom Pattern dialog box opens, listing all the patterns that you have
saved in your pattern folder.

5-26
 Create Flow Charts with the Pattern Wizard

6 Select your upper triangle iterator pattern and click OK.

The Pattern Wizard adds your custom pattern to the graphical function.

5-27
5 Model Logic Patterns and Iterative Loops Using Flow Charts

Before calling this function from a chart, be sure to modify data names, types, and sizes
as necessary and substitute an appropriate action.

5-28
 Draw and Customize Flow Charts By Hand

Draw and Customize Flow Charts By Hand

In this section...
How to Draw a Flow Chart on page 5-29
How to Change Connective Junction Size on page 5-29
How to Modify Junction Properties on page 5-29

How to Draw a Flow Chart

You can draw and customize flow charts manually by using connective junctions as
branch points between alternate transition paths:

1 Open a chart.
2 From the editor toolbar, drag one or more connective junctions into the chart using
the Connective Junction tool:

3 Add transition paths between junctions.

4 Label the transitions.
5 Add a default transition to the junction where the flow chart should start.

How to Change Connective Junction Size

To change the size of connective junctions:

1 Select one or more connective junctions.

2 Right-click one of the selected junctions and select Junction Size from the drop-
down menu.

A menu of junction sizes appears.

3 Select a junction size.

How to Modify Junction Properties

To modify the properties of a connective junction:

5-29
5 Model Logic Patterns and Iterative Loops Using Flow Charts

1 Right-click a connective junction and select Properties from the drop-down menu.

The Connective Junction dialog box appears.

2 Edit the fields in the dialog as desired.

Field Description
Parent Parent of the connective junction (read-only). Click the
hypertext link to bring the parent to the foreground.
Description Textual description or comment.
Document link Link to other information. Enter a URL address
or a general MATLAB command. Examples are
www.mathworks.com, mailto:email_address, and
edit/spec/data/speed.txt.
3 Click Apply to save changes.

5-30
 Best Practices for Creating Flow Charts

Best Practices for Creating Flow Charts

Follow these best practices to create efficient, accurate flow charts:

Use only one default transition

Flows charts should have a single entry point.

Provide only one terminating junction

Multiple terminating junctions reduce readability of a flow chart.

Converge all transition paths to the terminating junction

This guideline ensures that execution of a flow chart always reaches the termination
point.

Provide an unconditional transition from every junction except the terminating junction

This guideline ensures that unintended backtracking behavior does not occur in a flow
chart. If unintended backtracking occurs during simulation, a warning message appears.

You can control the level of diagnostic action for unintended backtracking in the
Diagnostics > Stateflow pane of the Model Configuration Parameters dialog box. For
more information, see the documentation for the Unexpected backtracking (Simulink)
diagnostic.

Unintended backtracking can occur at a junction under these conditions:

The junction does not have an unconditional transition path to a state or terminating
junction.
Multiple transition paths lead to that junction.

Use condition actions to process updates, not transition actions

Flow charts test transitions, but do not execute them (and, therefore, never execute
transition actions).

The following example illustrates these best practices:

5-31
5 Model Logic Patterns and Iterative Loops Using Flow Charts

5-32
 6

Build Mealy and Moore Charts

Overview of Mealy and Moore Machines on page 6-2

Create Mealy and Moore Charts on page 6-5
Model a Vending Machine Using Mealy Semantics on page 6-6
Design Considerations for Mealy Charts on page 6-8
Design Considerations for Moore Charts on page 6-11
Model a Traffic Light Using Moore Semantics on page 6-16
Effects of Changing the Chart Type on page 6-19
Debug Mealy and Moore Charts on page 6-20
6 Build Mealy and Moore Charts

Overview of Mealy and Moore Machines

In this section...
Semantics of Mealy and Moore Machines on page 6-2
Model with Mealy and Moore Machines on page 6-3
Default State Machine Type on page 6-3
Availability of Output on page 6-3
Advantages of Mealy and Moore Charts on page 6-3

Semantics of Mealy and Moore Machines

Mealy and Moore are often considered the basic, industry-standard paradigms for
modeling finite-state machines. Generally in state machine models, the next state is a
function of the current state and its inputs, as follows:

X (n + 1) = f ( X (n),u)

In this equation:

X(n) Represents the state at time step n

X(n+1) Represents the state at the next time step n+1
u Represents inputs

State is a combination of local data and chart activity. Therefore, computing state means
updating local data and making transitions from a currently active state to a new state.
State persists from one time step to another.

In this context, Mealy and Moore machines each have well-defined semantics.

Type of Semantics Applications

Machine
Mealy Output is a function of inputs and Clocked synchronous machines
state: where state transitions occur on
clock edges
y = g ( X , u)

6-2
 Overview of Mealy and Moore Machines

Type of Semantics Applications

Machine
Moore Output is a function only of state: Clocked synchronous machines
where outputs are modified at clock
y = g ( X) edges

You can create charts that implement pure Mealy or Moore semantics as a subset of
Stateflow chart semantics (see Create Mealy and Moore Charts on page 6-5).
Mealy and Moore charts can be used in simulation and code generation with Embedded
Coder, Simulink Coder, and HDL Coder software, which are available separately.

Model with Mealy and Moore Machines

Stateflow software ships with a model that shows how to use Mealy and Moore machines
for sequence recognition in signal processing. To open the model, enter sf_seqrec at the
MATLAB prompt.

Default State Machine Type

When you create a Stateflow chart, the default type is a hybrid state machine model that
combines the semantics of Mealy and Moore charts with the extended Stateflow chart
semantics. This default chart type is called Classic.

Availability of Output
Mealy machines compute output on transitions, while Moore machines compute outputs
in states. Therefore, Mealy charts can compute output earlier than Moore charts
that is, at the time the chart's default path executes. If you enable the chart property
Execute (enter) Chart At Initialization for a Mealy chart, this computation occurs
at t = 0 (first time step); otherwise, it occurs at t = 1 (next time step). By contrast, Moore
machines can compute outputs only after the default path executes. Until then, outputs
take the default values.

Advantages of Mealy and Moore Charts

Mealy and Moore charts offer the following advantages over Classic Stateflow charts:

6-3
6 Build Mealy and Moore Charts

You can verify the Mealy and Moore charts you create to ensure that they conform to
their formal definitions and semantic rules. Error messages appear at compile time
(not at design time).
Moore charts provide a more efficient implementation than Classic charts, both for C/
C++and HDL targets.
You can use a Moore chart to model a feedback loop. In Moore charts, inputs do not
have direct feedthrough. Therefore, you can design a loop with feedback from the
output port to the input port without introducing an algebraic loop. Mealy and Classic
charts have direct feedthrough and error with an algebraic loop.

More About
Design Considerations for Mealy Charts on page 6-8
Design Considerations for Moore Charts on page 6-11

6-4
 Create Mealy and Moore Charts

Create Mealy and Moore Charts

To create a new Mealy or Moore chart, follow these steps:

1 Add a new Chart block to a Simulink model; then double-click the block to open the
Stateflow Editor.
2 Right-click in an empty area of the chart and select Properties.

The Chart Properties dialog box opens.

3 From the State Machine Type drop-down menu, select Mealy or Moore.
4 Click OK.

The chart icon updates to display the selected chart type:

Mealy Moore

5 Design your chart according to the guidelines for the chart type (see Design
Considerations for Mealy Charts on page 6-8 and Design Considerations for
Moore Charts on page 6-11.

6-5
6 Build Mealy and Moore Charts

Model a Vending Machine Using Mealy Semantics

The following chart uses Mealy semantics to model a vending machine.

Open the Model

To open the model of a Mealy vending machine, type sf_mealy_vending_machine at
the MATLAB command prompt.

Logic of the Mealy Vending Machine

In this example, the vending machine requires 15 cents to release a can of soda. The
purchaser can insert a nickel or a dime, one at a time, to purchase the soda. The chart

6-6
 Model a Vending Machine Using Mealy Semantics

behaves like a Mealy machine because its output soda depends on both the input coin
and current state, as follows:

When initial state got_0 is active. No coin has been received or no coins are left.

If a nickel is received (coin == 1), output soda remains 0, but state got_nickel
becomes active.
If a dime is received (coin == 2), output soda remains 0, but state got_dime
becomes active.
If input coin is not a dime or a nickel, state got_0 stays active and no soda is
released (output soda = 0).

In active state got_nickel. A nickel was received.

If another nickel is received (coin == 1), state got_dime becomes active, but no can
is released (soda remains at 0).
If a dime is received (coin == 2), a can is released (soda = 1), the coins are banked,
and the active state becomes got_0 because no coins are left.
If input coin is not a dime or a nickel, state got_nickel stays active and no can is
released (output soda = 0).

In active state got_dime. A dime was received.

If a nickel is received (coin == 1), a can is released (soda = 1), the coins are banked,
and the active state becomes got_0 because no coins are left.
If a dime is received (coin == 2), a can is released (soda = 1), 15 cents is banked, and
the active state becomes got_nickel because a nickel (change) is left.
If input coin is not a dime or a nickel, state got_dime stays active and no can is
released (output soda = 0).

Design Rules in Mealy Vending Machine

This example of a Mealy vending machine illustrates the following Mealy design rules:

The chart computes outputs in condition actions.

There are no state actions or transition actions.
The chart defines chart inputs (coin) and outputs (soda).
The value of the input coin determines the output whether or not soda is released.

6-7
6 Build Mealy and Moore Charts

Design Considerations for Mealy Charts

In this section...
Mealy Semantics on page 6-8
Design Rules for Mealy Charts on page 6-8

Mealy Semantics
To ensure that output is a function of input and state, Mealy state machines enforce the
following semantics:

Outputs never depend on previous outputs.

Outputs never depend on the next state.
Chart wakes up periodically based on a system clock.

Note: A chart provides one time base for input and clock (see Calculate Output and
State Using One Time Base on page 6-10).
Chart must compute outputs whenever there is a change on the input port.
Chart must compute outputs only in transitions, not in states.

Design Rules for Mealy Charts

To conform to the Mealy definition of a state machine, you must ensure that a Mealy
chart computes outputs every time there is a change on the input port. As a result, you
must follow a set of design rules for Mealy charts.

Compute Outputs in Condition Actions Only on page 6-8

Do Not Use State Actions or Transition Actions on page 6-9
Restrict Use of Data on page 6-9
Restrict Use of Events on page 6-9
Calculate Output and State Using One Time Base on page 6-10

Compute Outputs in Condition Actions Only

You can compute outputs only in the condition actions of outer and inner transitions. A
common modeling style for Mealy machines is to test inputs in conditions and compute
outputs in the associated action.

6-8
 Design Considerations for Mealy Charts

Do Not Use State Actions or Transition Actions

You cannot use state actions or transition actions in Mealy charts. This restriction
enforces Mealy semantics by:

Preventing you from computing output without considering changes on the input port
Ensuring that output depends on current state and not next state

Restrict Use of Data

You can define inputs, outputs, local data, parameters, and constants in Mealy charts,
but other data restrictions apply:

Restrict Machine-Parented Data on page 6-9

Do Not Define Data Store Memory on page 6-9

Restrict Machine-Parented Data

Machine-parented data is data that you define for a Stateflow machine, which is the
collection of all Stateflow blocks in a Simulink model. The Stateflow machine is the
highest level of the Stateflow hierarchy. When you define data at this level, every chart
in the machine can read and modify the data. To ensure that Mealy charts do not access
data that can be modified unpredictably outside the chart, do not use machine-parented
data.

Do Not Define Data Store Memory

You cannot define data store memory (DSM) in Mealy charts because DSM objects can
be modified by objects external to the chart. A Stateflow chart uses data store memory
to share data with a Simulink model. Data store memory acts as global data that can be
modified by other blocks and models in the Simulink hierarchy that contains the chart.
Mealy charts should not access data that can change unpredictably.

Restrict Use of Events

Limit the use of events in Mealy charts as follows:

Do: Do Not:
Use input events to trigger the chart Broadcast any type of event

6-9
6 Build Mealy and Moore Charts

Do: Do Not:
Use event-based temporal logic to guard Use local events to guard transitions
transitions
You cannot use local events in Mealy charts
You can use event-based temporal logic because they are not deterministic. These
in Mealy charts because it behaves events can occur while the chart computes
synchronously (see Operators for Event- outputs and, therefore, violate Mealy
Based Temporal Logic on page 11-57). semantics that require charts to compute
Think of the change in value of a temporal outputs whenever input changes.
logic condition as an event that the chart
schedules internally. Therefore, at each Use implicit events such as
time step, the chart retains its notion of chg(data_name), en(state_name), or
state because it knows how many ticks ex(state_name).
remain before the temporal event executes.

Note: In Mealy charts, the base event

for temporal logic operators must be a
predefined event such as tick or wakeup
(see Keywords for Implicit Events on page
9-33).

Calculate Output and State Using One Time Base

You can use one time base for clock and input, as determined by the Simulink solver (see
Solvers (Simulink)). The Simulink solver sets the clock rate to be fast enough to capture
input changes. As a result, a Mealy chart commonly computes outputs and changes
states in the same time step.

6-10
 Design Considerations for Moore Charts

Design Considerations for Moore Charts

In this section...
Moore Semantics on page 6-11
Design Rules for Moore Charts on page 6-11

Moore Semantics
In Moore charts, output is a function of current state only. At every time step, a Moore
chart wakes up, computes its outputs, and then evaluates its inputs to reconfigure itself
for the next time step. For example, after evaluating its inputs, the Moore chart might
take transitions to a new configuration of active states, also called next state. However,
the Moore chart must always compute its outputs before changing state.

To ensure that output is a function only of state, Moore state machines enforce the
following semantics:

Outputs depend only on the current state, not inputs.

Outputs do not depend on previous outputs.
Chart must compute outputs only in states, not in transitions.
Chart must compute outputs before updating state.

Design Rules for Moore Charts

To conform to the Moore definition of a state machine, you must ensure that every time a
Moore chart wakes up, it computes outputs from the current set of active states without
regard to input. Therefore, you must follow a set of design rules for Moore charts.

Compute Outputs in State Actions, Not on Transitions on page 6-12

Restrict Data Scope on page 6-12
Do Not Use Inputs to Compute Outputs on page 6-13
Do Not Use coder.extrinsic to Call Extrinsic Functions on page 6-13
Do Not Use Actions on Transitions on page 6-13
Do Not Use a Pure Flow Graph on page 6-14
Do Not Use Simulink Functions on page 6-14

6-11
6 Build Mealy and Moore Charts

Do Not Export Functions on page 6-14

Do Not Disable Inlining on page 6-14
Do Not Enable Super Step Semantics on page 6-14
Do Not Use Messages on page 6-14
Restrict Use of Events on page 6-14
Do Not Use Moore Charts for Modeling Systems with Continuous-Time on page
6-15

Compute Outputs in State Actions, Not on Transitions

To ensure that outputs depend solely on current state, you must compute outputs in state
actions, subject to the following restrictions:

Combine Actions on page 6-12

Do Not Label State Actions on page 6-12

You cannot define actions on transitions because transitions almost always depend on
inputs. For example, if you compute outputs in a condition action on a transition, the
chart updates outputs whenever there is a change on the input, which is a violation of
Moore semantics.
Combine Actions

For Classic charts, you can define different types of actions in states (see State Action
Types on page 11-2). In Moore charts, you can include only one action per state. The
action for a state can consist of multiple command statements. Stateflow evaluates states
in Moore charts from the top level down. Active states in Moore charts execute the state
action before evaluating the transitions. Therefore, outputs are computed at each time
step whether an outer transition is valid or not.
Do Not Label State Actions

Do not label state actions in Moore charts with any keywords, such as en,du, or ex.

Restrict Data Scope

In Moore charts, these data restrictions apply:

Restrict Machine-Parented Data on page 6-13

Do Not Define Data Store Memory on page 6-13

6-12
 Design Considerations for Moore Charts

Restrict Machine-Parented Data

Machine-parented data is data that you define for a Stateflow machine. The Stateflow
machine is the highest level of the Stateflow hierarchy. When you define data at this
level, every chart in the machine can read and modify the data. To ensure that Moore
charts do not access data that can be modified unpredictably outside the chart, do not use
machine-parented data.
Do Not Define Data Store Memory

You cannot define data store memory (DSM) in Moore charts because objects external to
the chart modify DSM objects. A Stateflow chart uses data store memory to share data
with a Simulink model. Data store memory acts as global data. Other blocks and models
in the Simulink hierarchy that contains the chart can modify DSM. Moore charts must
not access data that can change unpredictably.

Do Not Use Inputs to Compute Outputs

In Moore charts, outputs cannot depend on inputs. Therefore, using an input to

contribute directly or indirectly to the computation of an output triggers an error.

Do Not Use coder.extrinsic to Call Extrinsic Functions

When calling extrinsic functions with coder.extrinsic, it is not possible to enforce

that the outputs depend only on the current state. Therefore, calling an extrinsic function
with coder.extrinsic in a Moore chart triggers an error.

Do Not Use Actions on Transitions

You cannot define condition actions or transition actions in Moore charts.

These transitions are not valid in a Moore chart.

6-13
6 Build Mealy and Moore Charts

Here, each transition tests input u in a condition, but modifies output y in a condition
action, based on the value of the input. This construct violates Moore semantics and
triggers an error. Similarly, you cannot use transition actions in Moore charts.

Do Not Use a Pure Flow Graph

Because Moore charts cannot have condition or transition actions, use states to produce
actions.

Do Not Use Simulink Functions

You cannot use Simulink functions in Moore charts. This restriction prevents violations
of Moore semantics during chart execution.

Do Not Export Functions

You cannot exports functions in a Moore chart.

Do Not Disable Inlining

Moore chart semantics require inlining. Do not force inlining off.

Do Not Enable Super Step Semantics

You cannot use super step semantics in a Moore chart.

Do Not Use Messages

You cannot use messages in a Moore chart.

Restrict Use of Events

Limit the use of events in Moore charts:

Valid: Do Not Use:

Use only one input event to trigger the Broadcast any type of event.
chart.
Use event-based temporal logic to guard Use local events to guard transitions.
transitions.
You cannot use local events in Moore charts
You can use event-based temporal logic because they are not deterministic. These
in Moore charts because the logic behaves events can occur while the chart computes

6-14
 Design Considerations for Moore Charts

Valid: Do Not Use:

synchronously (see Operators for Event- outputs and, therefore, violate Moore
Based Temporal Logic on page 11-57). semantics.
Think of the change in value of a temporal
logic condition as an event that the chart Use implicit events such as
schedules internally. Therefore, at each chg(data_name), en(state_name), or
time step, the chart retains its notion ex(state_name).
of state because it knows how many
ticks remain before the temporal event
executes.

Note: In Moore charts, the base event

for temporal logic operators must be a
predefined event such as tick or wakeup
(see Keywords for Implicit Events on
page 9-33).

Do Not Use Moore Charts for Modeling Systems with Continuous-Time

In Moore charts, you cannot set the update method to Continuous. For modeling
systems with continuous-time in Stateflow, use Classic or Mealy charts.

6-15
6 Build Mealy and Moore Charts

Model a Traffic Light Using Moore Semantics

The following chart uses Moore semantics to model a traffic light:

Open the Model

To open the model of a Moore traffic light, type sf_moore_traffic_light at the
MATLAB command prompt.

Logic of the Moore Traffic Light

In this example, the traffic light model contains a Moore chart called Light_Controller,
which operates in five traffic states. Each state represents the color of the traffic light
in two opposite directions North-South and East-West and the duration of the
current color. The name of each state represents the operation of the light viewed from
the North-South direction.

This chart uses temporal logic to regulate state transitions. The after operator
implements a countdown timer, which initializes when the source state is entered. By
default, the timer provides a longer green light in the East-West direction than in the
North-South direction because the volume of traffic is greater on the East-West road.

6-16
 Model a Traffic Light Using Moore Semantics

The green light in the East-West direction stays on for at least 20 clock ticks, but it can
remain green as long as no traffic arrives in the North-South direction. A sensor detects
whether cars are waiting at the red light in the North-South direction. If so, the light
turns green in the North-South direction to keep traffic moving.

The Light_Controller chart behaves like a Moore machine because it updates its outputs
based on current state before transitioning to a new state, as follows:

When initial state Stop is active. Traffic light is red for North-South, green for
East-West.

Sets output y1 = RED (North-South) based on current state.

Sets output y2 = GREEN (East-West) based on current state.
After 20 clock ticks, active state becomes StopForTraffic.

In active state StopForTraffic. Traffic light has been red for North-South, green for
East-West for at least 20 clock ticks.

Sets output y1 = RED (North-South) based on current state.

Sets output y2 = GREEN (East-West) based on current state.
Checks sensor.
If sensor indicates cars are waiting ([sens] is true) in the North-South direction,
active state becomes StopToGo.

In active state StopToGo. Traffic light must reverse traffic flow in response to
sensor.

Sets output y1 = RED (North-South) based on current state.

Sets output y2 = YELLOW (East-West) based on current state.
After 3 clock ticks, active state becomes Go.

In active state Go. Traffic light has been red for North-South, yellow for East-West
for 3 clock ticks.

Sets output y1 = GREEN (North-South) based on current state.

Sets output y2 = RED (East-West) based on current state.
After 10 clock ticks, active state becomes GoToStop.

In active state GoToStop. Traffic light has been green for North-South, red for East-
West for 10 clock ticks.

6-17
6 Build Mealy and Moore Charts

Sets output y1 = YELLOW (North-South) based on current state.

Sets output y2 = RED (East-West) based on current state.
After 3 clock ticks, active state becomes Stop.

Design Rules in Moore Traffic Light

This example of a Moore traffic light illustrates the following Moore design rules:

The chart computes outputs in state actions.

The chart tests inputs in conditions on transitions.
The chart uses temporal logic, but no asynchronous events.
The chart defines chart inputs (sens) and outputs (y1 and y2).

6-18
 Effects of Changing the Chart Type

Effects of Changing the Chart Type

The best practice is to not change from one Stateflow chart type to another in the middle
of development. You cannot automatically convert the semantics of the original chart
to conform to the design rules of the new chart type. Changing type usually requires
you to redesign your chart to achieve equivalent behavior that is, where both charts
produce the same sequence of outputs given the identical sequence of inputs. To assist
you, diagnostic messages appear at compile time (see Debug Mealy and Moore Charts
on page 6-20). In some cases, however, there may be no way to translate specific
behaviors without violating chart definitions.

Here is a summary of what happens when you change chart types mid-design.

From To Result
Mealy Classic Mealy charts retain their semantics when changed to Classic type.
Classic Mealy If the Classic chart confirms to Mealy semantic rules, the Mealy
chart exhibits equivalent behavior, provided that output is defined at
every time step.
Moore Classic State actions in the Moore chart behave as entry actions because
they are not labeled. Therefore, the Classic chart will not exhibit
behavior that is equivalent to the original Moore chart. Requires
redesign.
Classic Moore Actions that are unlabeled in the Classic chart ( entry actions by
default) behave as during and exit actions. Therefore, the Moore
chart will not exhibit behavior that is equivalent to the original
Classic chart. Requires redesign.
Mealy Moore Converting between these two types does not produce equivalent
Moore Mealy behavior because Mealy and Moore rules about placement of actions
are mutually exclusive. Requires redesign.

6-19
6 Build Mealy and Moore Charts

Debug Mealy and Moore Charts

At compile time, informative diagnostic messages appear to help you:

Design Mealy and Moore charts from scratch

Redesign legacy Classic charts to conform to Mealy and Moore semantics
Redesign charts to convert between Mealy and Moore types

For example, recall the Mealy vending machine chart described in Model a Vending
Machine Using Mealy Semantics on page 6-6.

If you change the chart type to Moore and rebuild, you get the following diagnostic
message:

6-20
 Debug Mealy and Moore Charts

Stateflow Moore chart cannot have condition or transition actions.

This message indicates that you cannot define actions on transitions. Without actions,
you cannot compute outputs on transitions in Moore charts (see Do Not Use Actions on
Transitions on page 6-13). According to Moore semantics, you must instead compute
outputs in state actions (see Design Rules for Moore Charts on page 6-11).

In the Mealy chart, each condition action computes output (whether or not soda is
released) based on input (the coin received). Each state represents one of the three
possible coin inputs: nickel, dime, or no coin. The Mealy chart computes the output as it
transitions to the next state. When you move this logic out of transitions and into state
actions in the Moore chart, you need more states. The reason is that in the Moore chart,
each state must represent not only coins received, but also the soda release condition.
The Moore chart must compute output according to the active state before considering
input. As a result, there will be a delay in releasing soda, even if the machine receives
enough money to cover the cost.

The equivalent vending machine, designed as a Moore chart, is as follows.

6-21
6 Build Mealy and Moore Charts

The semantics of the two charts differ as follows:

Mealy Vending Machine Moore Vending Machine

Uses 3 states Uses 5 states

6-22
 Debug Mealy and Moore Charts

Mealy Vending Machine Moore Vending Machine

Computes outputs in condition actions Computes outputs in state actions
Updates output based on input Updates output before evaluating input,
requiring an extra time step to produce the
soda

For this vending machine, Mealy is a better modeling paradigm because there is no
delay in releasing soda once sufficient coins are received. By contrast, the Moore vending
machine requires an extra time step to pass before producing soda. Since the Moore
vending machine accepts a nickel, a dime, or no coin in a given time step, it is possible
that the soda will be produced in a time step in which a coin is accepted toward the next
purchase. In this situation, the delivery of a soda may appear to be in response to this
coin, but actually occurs because the vending machine received the purchase price in
previous time steps.

6-23
 7

Techniques for Streamlining Chart

Design

Record State Activity Using History Junctions on page 7-2

Encapsulate Modal Logic Using Subcharts on page 7-5
Move Between Levels of Hierarchy Using Supertransitions on page 7-10
Define a Graphical Function on page 7-23
Manage Large Graphical Functions on page 7-27
Call Graphical Functions in States and Transitions on page 7-29
Specify Graphical Function Properties on page 7-30
Reuse Logic Patterns Using Graphical Functions on page 7-32
Export Stateflow Functions for Reuse on page 7-34
Group Chart Objects Using Boxes on page 7-41
Reuse Functions with an Atomic Box on page 7-48
Add Descriptive Comments in a Chart on page 7-54
7 Techniques for Streamlining Chart Design

Record State Activity Using History Junctions

In this section...
What Is a History Junction? on page 7-2
Create a History Junction on page 7-2
Change History Junction Size on page 7-3
Change History Junction Properties on page 7-3

What Is a History Junction?

A history junction records the activity of substates inside superstates. Use a history
junction in a chart or superstate to indicate that its last active substate becomes active
when the chart or superstate becomes active.

Create a History Junction

To create a history junction, do the following:

1 In the editor toolbar, click the History Junction icon:

2 Move your pointer into the chart.

3 Click to place a history junction inside the state whose last active substate it records.

To create multiple history junctions, do the following:

1 In the editor toolbar, double-click the History Junction icon.

The button is now in multiple-object mode.

2 Click anywhere in the drawing area to place a history junction.
3 Move to and click another location to create an additional history junction.
4 Click the History Junction icon or press the Esc key to cancel the operation.

To move a history junction to a new location, click and drag it to the new position.

7-2
 Record State Activity Using History Junctions

Change History Junction Size

To change the size of junctions:

1 Select the history junctions whose size you want to change.

2 Right-click one of the junctions and select Junction Size.
3 Select a size from the list of junction sizes.

Change History Junction Properties

To edit the properties for a junction:

1 Right-click a junction and select Properties.

The History Junction dialog box appears.

2 Edit the fields in the properties dialog box.

7-3
7 Techniques for Streamlining Chart Design

Field Description
Parent Parent of this history junction; read-only; click the
hypertext link to bring the parent to the foreground.
Description Textual description/comment.
Document Link Enter a URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit/spec/data/
speed.txt.
3 When finished editing, click one of the following buttons:

Apply to save the changes

Cancel to cancel any changes
OK to save the changes and close the dialog box
Help to display the Stateflow online help in an HTML browser window

7-4
 Encapsulate Modal Logic Using Subcharts

Encapsulate Modal Logic Using Subcharts

In this section...
What Is a Subchart? on page 7-5
Create a Subchart on page 7-6
Rules of Subchart Conversion on page 7-6
Convert a State to a Subchart on page 7-6
Manipulate Subcharts as Objects on page 7-8
Open a Subchart on page 7-8
Edit a Subchart on page 7-9
Navigate Subcharts on page 7-9

What Is a Subchart?
A subchart is a graphical object that can contain anything a top-level chart can, including
other subcharts. A subchart, or a subcharted state, is a superstate of the states that it
contains. You can nest subcharts to any level in your chart design.

Using subcharts, you can reduce a complex chart to a set of simpler, hierarchically
organized units. This design makes the chart easier to understand and maintain, without
changing the chart behavior. Subchart boundaries do not apply during simulation and
code generation.

The subchart appears as a block with its name in the block center. However, you can
define actions and default transitions for subcharts just as you can for superstates. You
can also create transitions to and from subcharts just as you can create transitions to and
from superstates. You can create transitions between states residing outside a subchart
and any state within a subchart. The term supertransition refers to a transition that
crosses subchart boundaries in this way. See Move Between Levels of Hierarchy Using
Supertransitions on page 7-10 for more information.

Subcharts define a containment hierarchy within a top-level chart. A subchart or top-

level chart is the parent of the states it contains at the first level and an ancestor of all
the subcharts contained by its children and their descendants at lower levels.

Some subcharts can become atomic units if they meet certain modeling requirements.
For more information, see Restrictions for Converting to Atomic Subcharts on page
14-11.

7-5
7 Techniques for Streamlining Chart Design

Create a Subchart
You create a subchart by converting an existing state, box, or graphical function into the
subchart. The object to convert can be one that you create for making a subchart or an
existing object whose contents you want to turn into a subchart.

To convert a new or existing state, box, or graphical function to a subchart:

1 Right-click the object and select Group & Subchart > Subchart.
2 Confirm that the object now appears as a subchart.

To convert the subchart back to its original form, right-click the subchart. In the context
menu, select Group & Subchart > Subchart.

Rules of Subchart Conversion

When you convert a box to a subchart, the subchart retains the attributes of a box. For
example, the position of the resulting subchart determines its activation order in the
chart if implicit ordering is enabled (see Group Chart Objects Using Boxes on page
7-41 for more information).

You cannot undo the operation of converting a subchart back to its original form. When
you perform this operation, the undo and redo buttons are disabled from undoing and
redoing any prior operations.

Convert a State to a Subchart

Suppose that you have the following chart:

7-6
 Encapsulate Modal Logic Using Subcharts

1 To convert the On state to a subchart, right-click the state and select Group &
Subchart > Subchart.
2 Confirm that the On state now appears as a subchart.

7-7
7 Techniques for Streamlining Chart Design

Manipulate Subcharts as Objects

Subcharts also act as individual objects. You can move, copy, cut, paste, relabel, and
resize subcharts as you would states and boxes. You can also draw transitions to and
from a subchart and any other state or subchart at the same or different levels in the
chart hierarchy (see Move Between Levels of Hierarchy Using Supertransitions on page
7-10).

Open a Subchart
Opening a subchart allows you to view and change its contents. To open a subchart, do
one of the following:

Double-click anywhere in the box that represents the subchart.

7-8
 Encapsulate Modal Logic Using Subcharts

Select the box representing the subchart and press the Enter key.

Edit a Subchart
After you open a subchart (see Open a Subchart on page 7-8), you can perform
any editing operation on its contents that you can perform on a top-level chart. This
means that you can create, copy, paste, cut, relabel, and resize the states, transitions,
and subcharts in a subchart. You can also group states, boxes, and graphical functions
inside subcharts.

You can also cut and paste objects between different levels in your chart. For example,
to copy objects from a top-level chart to one of its subcharts, first open the top-level chart
and copy the objects. Then open the subchart and paste the objects into the subchart.

Transitions from outside subcharts to states or junctions inside subcharts are called
supertransitions. You create supertransitions differently than you do ordinary
transitions. See Move Between Levels of Hierarchy Using Supertransitions on page
7-10 for information on creating supertransitions.

Navigate Subcharts
The Stateflow Editor toolbar contains a set of buttons for navigating the subchart
hierarchy of a chart.

Tool Description
If the Stateflow Editor is displaying a subchart, clicking this button
replaces the subchart with the subchart's parent in the Stateflow Editor.
If the Stateflow Editor is displaying a top-level chart, clicking this button
replaces the chart with the Simulink model window containing that chart.
Clicking this button shows the chart that you visited before the current
chart, so that you can navigate up the hierarchy.
Clicking this button shows the chart that you visited after visiting the
current chart, so that you can navigate down the hierarchy.

Note: You can also use the Escape key to navigate up to the parent object for a
subcharted state, box, or function.

7-9
7 Techniques for Streamlining Chart Design

Move Between Levels of Hierarchy Using Supertransitions

In this section...
What Is a Supertransition? on page 7-10
Draw a Supertransition Into a Subchart on page 7-12
Draw a Supertransition Out of a Subchart on page 7-17
Label Supertransitions on page 7-21

What Is a Supertransition?
A supertransition is a transition between different levels in a chart, for example,
between a state in a top-level chart and a state in one of its subcharts, or between states
residing in different subcharts at the same or different levels in a chart. You can create
supertransitions that span any number of levels in your chart, for example, from a state
at the top level to a state that resides in a subchart several layers deep in the chart.

The point where a supertransition enters or exits a subchart is called a slit. Slits divide
a supertransition into graphical segments. For example, the following chart shows a
supertransition leaving the On subchart:

7-10
 Move Between Levels of Hierarchy Using Supertransitions

The same supertransition appears inside the subchart as follows:

7-11
7 Techniques for Streamlining Chart Design

In this example, supertransition [Heater.On.warm()] goes from NORM in the On

subchart to the Off state in the parent chart. Both segments of the supertransition have
the same label.

Draw a Supertransition Into a Subchart

Use the following steps to draw a supertransition from an object outside a subchart to an
object inside the subchart.

7-12
 Move Between Levels of Hierarchy Using Supertransitions

Note: You cannot undo the operation of drawing a supertransition. When you perform
this operation, the undo and redo buttons are disabled from undoing and redoing any
prior operations.

1 Position your cursor over the border of the state.

The cursor assumes the crosshairs shape.

2 Drag the mouse just inside the border of the subchart.

A supertransition appears, extending from the source state into the subchart with its
arrowhead penetrating a slit in the subchart.

7-13
7 Techniques for Streamlining Chart Design

If you are not happy with the initial position of the slit, you can continue to drag the
slit around the inside edge of the subchart to the desired location.
3 Double-click the subchart to open it.

The tip of the arrowhead of the supertransition appears highlighted in red, entering
the subchart.

7-14
 Move Between Levels of Hierarchy Using Supertransitions

4 Position your cursor over the arrowhead.

The cursor becomes an arrow.

5 Drag the cursor to the desired position in the subchart.

7-15
7 Techniques for Streamlining Chart Design

6 Release the cursor.

The supertransition terminates in the desired location.

7-16
 Move Between Levels of Hierarchy Using Supertransitions

Draw a Supertransition Out of a Subchart

Use the following steps to draw a supertransition out of a subchart.

1 Draw an inner transition segment from the source object anywhere just outside the
border of the subchart

A slit appears as shown.

7-17
7 Techniques for Streamlining Chart Design

2 Navigate up to the parent object by selecting View > Navigate > Up to Parent.

The tip of the arrowhead of the supertransition appears highlighted in red, exiting
the subchart.

7-18
 Move Between Levels of Hierarchy Using Supertransitions

3 Position your cursor over the arrowhead.

The cursor becomes an arrow.

4 Drag the cursor to the desired position in the chart.

The parent of the subchart appears.

7-19
7 Techniques for Streamlining Chart Design

5 Release the cursor to complete the connection.

7-20
 Move Between Levels of Hierarchy Using Supertransitions

Note: If the parent chart is itself a subchart and the terminating object resides at a
higher level in the subchart hierarchy, repeat these steps until you reach the desired
parent. In this way, you can connect objects separated by any number of layers in the
subchart hierarchy.

Label Supertransitions
A supertransition is displayed with multiple resulting transition segments for each layer
of containment traversed. For example, if you create a transition between a state outside

7-21
7 Techniques for Streamlining Chart Design

a subchart and a state inside a subchart of that subchart, you create a supertransition
with three segments, each displayed at a different containment level.

You can label any one of the transition segments constituting a supertransition using the
same procedure used to label a regular transition (see Label Transitions on page 4-19).
The resulting label appears on all the segments that constitute the supertransition. Also,
if you change the label on any one of the segments, the change appears on all segments.

7-22
 Define a Graphical Function

Define a Graphical Function

Create a Graphical Function

Use these steps to create a graphical function in your chart:

1 Click the graphical function icon in the editor toolbar:

2 Move your pointer to the location for the new graphical function in your chart and
click to insert the function box.
3 Enter the function signature.

The function signature specifies a name for your function and the formal names for
its arguments and return values. A signature has this syntax:

[r1, r2,..., rn] = func(a1,a2,..., an)

where func is the name of your function, a1, a2, ..., an are formal names for its
arguments, and r1, r2, ..., rn are formal names for its return values.

Note: You can define arguments and return values as scalars, vectors, or 2-D
matrices of any data type.
4 Click outside of the function box.

The following signature is for a graphical function that has the name f1, which takes
three arguments (a, b, and c) and returns three values (x, y, and z).

7-23
7 Techniques for Streamlining Chart Design

Note: In the chart, you can change the signature of your graphical function at any time.
After you edit the signature, the Model Explorer updates to reflect the changes.

Program a Graphical Function

To program a graphical function, follow these steps:

1 Click the default transition icon in the editor toolbar:

2 Move your pointer inside the function box in your chart and click to insert the
default transition and its terminating junction.
3 Enter transition conditions and actions for your graphical function. If necessary, add
connective junctions and transitions to your function.

Note: Connective junctions and transitions are the only graphical elements you can
use in a graphical function. Because a graphical function must execute completely
when you call it, you cannot use states.

This function box shows a flow chart that returns different products of its arguments.

Define Graphical Function Data

You must define the data in your graphical function:

1 Open the Model Explorer.

2 Expand the chart object in the Model Explorer, so that you can see the return values
and arguments of the function signature as data items that belong to your graphical
function.

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 Define a Graphical Function

The Scope column in the Model Explorer indicates the role of each argument or
return value. Arguments have the scope Input, and return values have the scope
Output.
3 For each function argument and return value, right-click the data row in the Model
Explorer and select Properties from the context menu.
4 In the Data properties dialog box for each argument and return value, specify the
data properties.

These rules apply:

Each argument and return value can be a scalar or matrix of values.

Arguments cannot have initial values.
5 Create any additional data items that your function must have to process its
programming.

Your function can access its own data or data belonging to parent states or the chart.
The data items that you create for the function itself can have one of these scopes:

Local

Local data persists from one function call to the next. Valid for C charts only.
Temporary

Temporary data initializes at the start of every function call. Valid for C charts
only. In charts that use MATLAB as the action language, you do not need to

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7 Techniques for Streamlining Chart Design

define temporary function data in the Model Explorer. If a variable is used and
not previously defined, then it is automatically created. The variable is available
to the rest of the function.
Constant

Constant data retains its initial value through all function calls.

Note: You can initialize your function data (other than arguments and return
values) from the MATLAB workspace. However, you can save only local items to this
workspace.

7-26
 Manage Large Graphical Functions

Manage Large Graphical Functions

You can make your graphical function as large as you want, as shown below.

However, if your function grows too large, you can hide its contents by right-clicking
inside the function box and selecting Group & Subchart > Subchart from the context
menu. This option makes your graphical function opaque.

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7 Techniques for Streamlining Chart Design

To access the programming of your subcharted graphical function, double-click the

function box. This action dedicates the entire chart window to programming your
function.

To access your original chart, click the Back button .

7-28
 Call Graphical Functions in States and Transitions

Call Graphical Functions in States and Transitions

Syntax
Syntax for a function call is the same as that of a function signature, with actual
arguments replacing the formal ones specified in a signature. If the data types of the
actual and formal argument differ, a function casts the actual argument to the type of
the formal argument. See Create a Graphical Function on page 7-23 for information
about syntax for a function signature.

Tip: If the formal arguments of a function signature are scalars, verify that inputs and
outputs of function calls follow the rules of scalar expansion. For more information, see
How Scalar Expansion Works for Functions on page 16-6.

Example
In this example, a state entry action calls a graphical function that returns three
products.

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7 Techniques for Streamlining Chart Design

Specify Graphical Function Properties

You can set general properties for your graphical function through its properties dialog
box:

1 Right-click your graphical function box.

2 Select Properties from the context menu.

The properties dialog box for your graphical function appears.

The fields in the General tab of the properties dialog box are:

Field Description
Name Click this read-only function name to bring your function to the
foreground in its native chart.

7-30
 Specify Graphical Function Properties

Field Description
Function Inline Select one of these options to control the inlining of your
Option function in generated code:

Auto
Decides whether or not to inline your function based on an
internal calculation.
Inline
Inlines your function as long as you do not export it to other
charts, and it is not part of a recursion. (A recursion exists
if your function calls itself directly or indirectly through
another function call.)
Function
Does not inline your function.
Label Specify the signature label for your function in this field.
See Create a Graphical Function on page 7-23 for more
information.

The fields in the Documentation tab of the properties dialog box are:

Field Description
Description Enter a textual description or comment.
Document link Enter a URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit/spec/data/speed.txt.

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7 Techniques for Streamlining Chart Design

Reuse Logic Patterns Using Graphical Functions

In this section...
What Is a Graphical Function? on page 7-32
Why Use a Graphical Function in a Stateflow Chart? on page 7-32
Where to Use a Graphical Function on page 7-32
Limitations Using Events in Graphical Functions on page 7-33

What Is a Graphical Function?

A graphical function in a Stateflow chart is a graphical element that helps you reuse
control-flow logic and iterative loops. This function is a program you write with flow
charts using connective junctions and transitions. You create a graphical function, fill it
with a flow chart, and call the function in the actions of states and transitions.

Why Use a Graphical Function in a Stateflow Chart?

This function helps you to:

Create modular, reusable logic that you can call anywhere in your chart.
Track simulation behavior visually during chart animation.

Where to Use a Graphical Function

A graphical function can reside anywhere in a chart, state, or subchart. The location of
a function determines its scope, that is, the set of states and transitions that can call the
function. Follow these guidelines:

If you want to call the function only within one state or subchart and its substates,
put your graphical function in that state or subchart. That function overrides any
other functions of the same name in the parents and ancestors of that state or
subchart.
If you want to call the function anywhere in that chart, put your graphical function at
the chart level.
If you want to call the function from any chart in your model, put your graphical
function at the chart level and enable exporting of chart-level graphical functions. For
instructions, see Export Stateflow Functions for Reuse on page 7-34.

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 Reuse Logic Patterns Using Graphical Functions

Limitations Using Events in Graphical Functions

If an event broadcast inside a graphical function causes the active state to change, do
not broadcast the event inside of the graphical function. The behavior of broadcasting an
event in a graphical function that causes an exit from the active state is unpredictable.

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7 Techniques for Streamlining Chart Design

Export Stateflow Functions for Reuse

In this section...
Why Export Chart-Level Functions? on page 7-34
How to Export Chart-Level Functions on page 7-34
Rules for Exporting Chart-Level Functions on page 7-35
Export Chart-Level Functions on page 7-35

Why Export Chart-Level Functions?

When you export chart-level functions, you extend the scope of your functions to other
parts of the model. For an example, see Share Functions Across Simulink and Stateflow
on page 27-6. You can export these functions:

Graphical
Truth table
MATLAB

How to Export Chart-Level Functions

1 Open the chart where your function resides.
2 In the Property Inspector, open the Advanced section.
3 Select Export Chart Level Functions.
4 If your function resides in a library chart, link that chart to your main model.

When you select Export Chart Level Functions, you can call exported functions by
using Simulink Caller blocks with dot notation, chartName.functionName. To call the
exported functions throughout the model from any Stateflow or Simulink Caller block,
select Treat Exported Functions as Globally Visible. Do not use dot notation to call
these functions. You cannot export functions with the same name.

Simulink functions can also be defined directly in the Simulink canvas. For more
information, see Simulink Function.

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 Export Stateflow Functions for Reuse

Rules for Exporting Chart-Level Functions

Link library charts to your main model to export chart-level functions from libraries

You must perform this step to export functions from library charts. Otherwise, a
simulation error occurs.

Do not export chart-level functions that contain unsupported inputs or outputs

You cannot export a chart-level function when inputs or outputs have any of the
following properties:

Fixed-point data type with word length greater than 32 bits

Variable size

Do not export Simulink functions

If you try to export Simulink functions, an error appears when you simulate your model.
To avoid this behavior, clear the Export Chart Level Functions check box in the Chart
properties dialog box.

Do not export functions across model reference boundaries

You cannot export functions from a referenced model and call the functions from a parent
model.

Export Chart-Level Functions

This example describes how to export functions in library charts to your main model.

1 Create these objects:

Add a model named main_model, with a chart named modChart.

Add a library model named lib1, with a chart named lib1Chart.

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7 Techniques for Streamlining Chart Design

Add a library model named lib2, with a chart named lib2Chart.

2 Create these graphical functions in the library charts:

For lib1Chart, add this graphical function.

For lib2Chart, add this graphical function.

In the Model Explorer, for each of the function inputs and outputs, a, b, and c, set
these properties:.

Size to 1
Complexity to Off
7-36
 Export Stateflow Functions for Reuse

Type to double
3 For modChart, add a graphical function and a default transition with a lib1_func
action.

4 For each chart, follow these steps:

a In the Model Explorer, for each of the function inputs and outputs, a, b, and c,
set:

Size to 1
Complexity to Off
Type to double
b Open the Chart properties dialog box.
c In the Chart properties dialog box, select Export Chart Level Functions.
d Click OK.
5 Drag lib1Chart and lib2Chart into main_model from lib1 and lib2,
respectively. Your main model should look something like this:

Each chart now defines a graphical function that any chart in main_model can call.
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7 Techniques for Streamlining Chart Design

6 Open the Model Explorer.

7 In the Model Hierarchy pane of the Model Explorer, navigate to main_model.
8 Add the data x and y to the Stateflow machine:

a Select Add > Data.

b In the Name column, enter x.
c In the Initial Value column, enter 0.
d Use the default settings for other properties of x.
e Select Add > Data.
f In the Name column, enter y.
g In the Initial Value column, enter 1.
h Use the default settings for other properties of y.

This step ensures that input and output data are defined globally to support
exported graphical functions.
9 Open the Model Configuration Parameters dialog box.
10 In the Model Configuration Parameters dialog box, go to the Solver pane.
11 In the Solver options section, make these changes:

a For Type, select Fixed-step.

b For Solver, select Discrete (no continuous states).
c For Fixed-step size, enter 1.
d Click OK.

This step ensures that when you simulate your model, a discrete solver is used. For
more information, see Solvers (Simulink).

What Happens During Simulation

When you simulate the model, these actions take place during each time step.

Phase The object... Calls the graphical Which...

function...
1 modChart lib1_func Reads two input
arguments x and y

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 Export Stateflow Functions for Reuse

Phase The object... Calls the graphical Which...

function...
2 lib1_func lib2_func Passes the two input
arguments
3 lib2_func mod_func Adds x and y and
assigns the sum to x

How to View the Simulation Results

To view the simulation results, add a scope to your model. Follow these steps:

1 Open the Simulink Library Browser.

2 From the Simulink/Sinks Library, select the Scope block and add it to main_model.
3 Open the Model Explorer.
4 In the Model Hierarchy pane, navigate to modChart.
5 Add the output data z to the chart:

a Select Add > Data.

b In the Name column, enter z.
c In the Scope column, select Output.
d Use the default settings for other properties.
6 For modChart, update the default transition action to read as follows:

{x = lib1_func(x,y); z = x;}
7 In the model, connect the outport from modChart to the inport of the Scope block.

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7 Techniques for Streamlining Chart Design

8 Double-click the Scope block to open the display.

9 Start simulation.
10 After the simulation ends, right-click in the scope display and select Autoscale.

The results look something like this:

7-40
 Group Chart Objects Using Boxes

Group Chart Objects Using Boxes

In this section...
When to Use Boxes on page 7-41
Semantics of Stateflow Boxes on page 7-41
Rules for Using Boxes on page 7-41
Draw and Edit a Box on page 7-42
Examples of Using Boxes on page 7-44

When to Use Boxes

Use a Stateflow box to organize graphical objects in your chart.

Semantics of Stateflow Boxes

Visibility of Graphical Objects in Boxes

Boxes add a level of hierarchy to Stateflow charts. This property affects visibility of
functions and states inside a box to objects that reside outside of the box. If you refer to
a box-parented function or state from a location outside of the box, you must include the
box name in the path. See Group Functions Using a Box on page 7-44.

Activation Order of Parallel States

Boxes affect the implicit activation order of parallel states in a chart. If your chart uses
implicit ordering, parallel states within a box wake up before other parallel states that
are lower or to the right in that chart. Within a box, parallel states wake up in top-down,
left-right order. See Group States Using a Box on page 7-45.

Note: To specify activation order explicitly on a state-by-state basis, select User

specified state/transition execution order in the Chart properties dialog box. This
option is selected by default when you create a new chart. For details, see Explicit
Ordering of Parallel States on page 3-79.

Rules for Using Boxes

When you use a box, these rules apply:

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7 Techniques for Streamlining Chart Design

Include the box name in the path when you use dot notation to refer to a box-parented
function or state from a location outside of the box.
You can move or draw graphical objects inside a box, such as functions and states.
You can add data to a box so that all the elements in the box can share the same data.
You can group a box and its contents into a single graphical element. See Group
States on page 4-6.
You can subchart a box to hide its elements. See Encapsulate Modal Logic Using
Subcharts on page 7-5.
You cannot define action statements for a box, such as entry, during, and exit
actions.
You cannot define a transition to or from a box. However, you can define a transition
to or from a state within a box.

Draw and Edit a Box

Create a Box

You create boxes in your chart by using the box tool shown below.

7-42
 Group Chart Objects Using Boxes

1 Click the Box tool.

2 Move your pointer into the drawing area.
3 Click in any location to create a box.

The new box appears with a question mark (?) name in its upper left corner.
4 Click the question mark label.

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7 Techniques for Streamlining Chart Design

5 Enter a name for the box and then click outside of the box.

Delete a Box

To delete a box, click to select it and press the Delete key.

Examples of Using Boxes

Group Functions Using a Box

This chart shows a box named Status that groups together MATLAB functions.

Chart execution takes place as follows:

1 The state Cold activates first.

2 Upon entry, the state Cold invokes the function Status.msgCold.

This function displays a status message that the temperature is cold.

Note: Because the MATLAB function resides inside a box, the path of the function
call must include the box name Status. If you omit this prefix, an error message
appears.
3 If the value of the input data temp exceeds 80, a transition to the state Warm occurs.
4 Upon entry, the state Warm invokes the function Status.msgWarm.

7-44
 Group Chart Objects Using Boxes

This function displays a status message that the temperature is warm.

Note: Because the MATLAB function resides inside a box, the path of the function
call must include the box name Status. If you omit this prefix, an error message
appears.
5 If the value of the input data temp drops below 60, a transition to the state Cold
occurs.
6 Steps 2 through 5 repeat until the simulation ends.

Group States Using a Box

This chart shows a box named Status that groups together related states. The chart
uses implicit ordering for parallel states, instead of the default explicit mode. (For
details, see Implicit Ordering of Parallel States on page 3-80.)

7-45
7 Techniques for Streamlining Chart Design

The main ideas of this chart are:

The state Temp wakes up first, followed by the state Wind_Chill. Then, the state
Monitor wakes up.

Note: This implicit activation order occurs because Temp and Wind_Chill reside in a
box. If you remove the box, the implicit activation order changes, as shown, to: Temp,
Monitor, Wind_Chill.

Based on the input data temp, transitions between substates occur in the parallel
states Status.Temp and Status.Wind_Chill.
When the transition from Status.Temp.Cold to Status.Temp.Warm occurs, the
transition condition in(Status.Temp.Warm) becomes true.
When the transition from Status.Temp.Warm to Status.Temp.Cold occurs, the
transition condition in(Status.Temp.Cold) becomes true.

7-46
 Group Chart Objects Using Boxes

Note: Because the substates Status.Temp.Cold and Status.Temp.Warm reside

inside a box, the argument of the in operator must include the box name Status.
If you omit this prefix, an error message appears. For information about the in
operator, see Check State Activity on page 11-86.

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7 Techniques for Streamlining Chart Design

Reuse Functions with an Atomic Box

In this section...
What Is an Atomic Box? on page 7-48
Rationale for Using an Atomic Box on page 7-48
How to Reuse Functions with an Atomic Box on page 7-48
Example of Reusing a Timer Function Multiple Times on page 7-49

What Is an Atomic Box?

An atomic box behaves in the same way as a regular Stateflow box but with a few
differences:

You can reuse an atomic box across multiple charts and models.
An atomic box cannot contain states, only functions (graphical, truth table, MATLAB,
and Simulink).

Use an atomic box to reuse functions in the same way that you use an atomic subchart
to reuse states. For more information about atomic subcharts, see What Is an Atomic
Subchart? on page 14-2.

Rationale for Using an Atomic Box

Suppose that you have a library model that contains a set of functions for use in multiple
charts in a model. The functions reside in the library model to enable easier configuration
management.

Models that use these functions can appear as referenced blocks in a top model. However,
when the functions are exported functions of a Stateflow chart, you can use only one
instance of that referenced block per top model. For a complete list of model referencing
limitations, see Limitations on All Model Referencing (Simulink).

With atomic boxes, you can avoid the limitation due to exported functions. You can reuse
models with these functions multiple times as referenced blocks in a top model.

How to Reuse Functions with an Atomic Box

To reuse functions across multiple models:

7-48
 Reuse Functions with an Atomic Box

1 Create a library model with an atomic box that contains the function you want to
reuse.
2 Create a separate model with multiple charts.

a In each chart that calls the function, add a linked atomic box.
b Write each call to the function using the full path:

linked_box_name.function_name

Using the full path for the function call has the following advantages:

Makes clear the dependency on the function in the linked atomic box
Avoids pollution of the global namespace
Does not affect efficiency of the generated code
3 Reuse that model multiple times as referenced blocks in a top model.

Because there are no exported functions in the charts, you can use more than one
instance of that referenced block in the top model.

Example of Reusing a Timer Function Multiple Times

Suppose that you want to reuse a timer function that returns the simulation time in C
charts. The following procedure shows how you can:

Call the timer function from multiple locations in a model.

Reuse that model multiple times in another model.

Note: For charts that use MATLAB as the action language, use the function
getSimulationTime().

1 Store the timer function you want to reuse in a library model.

a Create a new library named libTimerUtils.

b Add a chart named TimerUtils to the library:

7-49
7 Techniques for Streamlining Chart Design

c In your chart, add the following graphical function:

The function GetTime returns one output tout that corresponds to simulation
time t. For more information about literal symbols you can use in your chart,
see Supported Symbols in Actions on page 11-27.
d Save libTimerUtils.
2 Develop a separate model with multiple charts that use the timer function.

a Create a new model named ex_timer_function_calls.

b Add two charts, Chart1 and Chart2, to the model.
c In each chart, add two states, two transitions, and a linked atomic box:

7-50
 Reuse Functions with an Atomic Box

To add the linked atomic box, copy the TimerUtils library chart and paste it
below state A. Name the linked atomic box as Time.

When you copy and paste a library chart that contains only functions and no
states, you get a linked atomic box. If the library chart contains any states, you
get a linked atomic subchart.
d In Chart1, add the following state action and transition condition:

Upon entry to state A, the call to GetTime returns the simulation time. The
transition from state A to B occurs when more than 5 seconds of simulation time
passes.
e In Chart2, add the following state action and transition condition:

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7 Techniques for Streamlining Chart Design

Upon entry to state A, the call to GetTime returns the simulation time. The
transition from state A to B occurs when more than 7 seconds of simulation time
passes.
f In each chart, add local data with the following properties:

Property Value
Name t0
Scope Local
Type double
g In each chart, open the State properties dialog box for B and select Create data
for monitoring:. Click OK.

This step adds an output data named B that is Boolean. The value is 1 when
state B is active and 0 otherwise. For more information, see About Active State
Data on page 22-30.
h In your model, add two Outport blocks, Out1 and Out2. Then connect each block
to the corresponding output of each chart.

Your model should look something like this:

i Save ex_timer_function_calls.
3 Reuse the timer function in multiple referenced blocks of a top model.

a Create a new model named ex_modelref_utility_functions.

b Add two Model blocks that reference ex_timer_function_calls.

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 Reuse Functions with an Atomic Box

c Add four Outport blocks and connect them as follows:

d Save ex_modelref_utility_functions.

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7 Techniques for Streamlining Chart Design

Add Descriptive Comments in a Chart

In this section...
Create Notes on page 7-54
Change Note Properties on page 7-54
Change Note Font and Color on page 7-54
TeX Instructions on page 7-55

Create Notes
You can enter comments or notes in any location on the chart.

1 Double-click in the desired location of the chart and start typing your comments.
2 Press the Return key to start a new line.
3 After you finish typing, click outside the note text.

Change Note Properties

You can use the Note properties dialog box to edit note properties.

You can specify the layout of the note, including:

Borders
Text alignment and word wrap
Text color and background color
Margins between the text and the borders of the note

Change Note Font and Color

To change font and color for your chart notes, follow the procedures described in the
section Specify Colors and Fonts in a Chart on page 4-31.

You can also change your note text to bold or italic:

1 Right-click the note text and select Font Style.

2 In the submenu, select Bold or Italic.

7-54
 Add Descriptive Comments in a Chart

TeX Instructions
In your notes, you can embed a subset of TeX commands to produce special characters.
For example, you can embed Greek letters and mathematical symbols.

1 Right-click the text of a note and select Enable TeX Commands.

2 Click the note text.
3 Replace the existing note text with the following expression.

\it{\omega_N = e^{(-2\pii)/N}}
4 Click outside the note.

The note in your chart looks something like this:

7-55
 8

Define Data

Add Stateflow Data on page 8-2

Detect Unused Data in the Symbols Window on page 8-4
Set Data Properties on page 8-6
Share Data with Simulink and MATLAB Workspace on page 8-23
About Data Stores on page 8-27
How Charts Work with Local and Global Data Stores on page 8-28
Access Data Store Memory from a Chart on page 8-29
Diagnostics for Sharing Data Between Charts and Simulink Blocks on page 8-32
Create a Global Data Store Across Multiple Models on page 8-34
Best Practices for Using Data Stores in Charts on page 8-35
Type Stateflow Data on page 8-36
Size Stateflow Data on page 8-44
Handle Integer Overflow for Chart Data on page 8-49
Define Temporary Data on page 8-53
Identify Data Using Dot Notation on page 8-54
Resolve Data Properties from Simulink Signal Objects on page 8-59
Best Practices for Using Data in Charts on page 8-63
Transfer Data Across Models on page 8-65
8 Define Data

Add Stateflow Data

In this section...
Add Data from the Stateflow Editor on page 8-2
Add Data Through the Model Explorer on page 8-3

Add data when you want to store values that are visible at a specific level of the
Stateflow hierarchy.

You can store and retrieve data that resides internally in the Stateflow workspace and
externally in the Simulink model or application that embeds the chart. Actions in your
chart can refer to internal and external data.

You can use data defined in a Stateflow chart by multiple Stateflow objects in the chart.
These objects can be states, transition, MATLAB functions, and truth tables. Stateflow
data is not available to Simulink functions within Stateflow.

Add Data from the Stateflow Editor

From the Stateflow editor, you can add data via the Symbols window or through menus.

To open the Symbols window, select View > Symbols. To add data in the Symbols
window:

1
Click the Create Data icon .
2 In the row for the new data, under TYPE, click the icon and choose:

Input Data
Local Data
Output Data
Constant
Data Store Memory
Parameter
Temporary
3 Edit the name of the data.

8-2
 Add Stateflow Data

4 For input and output data, click the PORT field and choose a port number.

To add data through menus, select one of these options:

Scope Menu Option

Input Chart > Add Inputs & Outputs > Data Input From Simulink
Output Chart > Add Inputs & Outputs > Data Output To Simulink
Local Chart > Add Other Elements > Local Data
Constant Chart > Add Other Elements > Constant
Parameter Chart > Add Other Elements > Parameter
Data Store Chart > Add Other Elements > Data Store Memory
Memory

You can edit properties for data in the Property Inspector or Data properties dialog box.

Add Data Through the Model Explorer

Add machine or state-parented data through the Model Explorer.

1 In the Stateflow Editor, select View > Model Explorer.

2 In the Model ExplorerModel Hierarchy pane, select the object in the Stateflow
hierarchy where you want to make the new data visible.

The object you select becomes the parent of the new data.
3 In the Model Explorer, select Add > Data.

The Model Explorer adds a default definition for the data in the hierarchy. The data
definition appears in a new row in the Model Explorer.
4 Change the properties of the data.

More About
Set Data Properties on page 8-6

8-3
8 Define Data

Detect Unused Data in the Symbols Window

The Symbols window indicates unused data, messages, functions, and events with a
yellow warning icon. To delete unused objects, right-click the object in the Symbols
window and select Delete. By removing objects that have no effect on simulation, you
can reduce the size of your model. In this chart, after you add data, it first appears as
unused. After you reference data in the chart, the warning sign disappears.

The following types of unused data are not detected:

Machine-parented data
Inputs and outputs of MATLAB functions
Data of parameter scope in a chart that contains atomic subcharts

More About
Trace Data, Events, and Messages with the Symbols Window on page 30-7
Unused data, events, messages, and functions (Simulink)

8-4
 Detect Unused Data in the Symbols Window

Resolve Undefined Data in the Symbols Window on page 28-33

Set Data Properties on page 8-6

8-5
8 Define Data

Set Data Properties

In this section...
Stateflow Data Properties on page 8-6
Set Properties in the Logging Section on page 8-19
Set Properties in the Description Pane on page 8-20
Enter Expressions and Parameters for Data Properties on page 8-20

You can specify data properties in either the Property Inspector or the Data properties
dialog box in the Model Explorer.

Property Inspector

1 Open the Symbols window by selecting View > Symbols.

2 Open the Property Inspector by selecting View > Property Inspector.
3 Select the data in the Symbols window.
4 Edit the data properties in the Property Inspector window.
Model Explorer

1 Open the Model Explorer by selecting View > Model Explorer.

2 Double-click the data object in the Contents pane.
3 Edit the data properties in the data properties dialog box.

Properties vary according to the scope and type of the data object. For many data
properties, you can enter expressions or parameter values. Using parameters to set
properties for many data objects simplifies maintenance of your model because you can
update multiple properties by changing a single parameter.

Stateflow Data Properties

Name

Name of the data object. For more information, see Rules for Naming Stateflow Objects
on page 2-4.

8-6
 Set Data Properties

Scope

Location where data resides in memory, relative to its parent. You can set scope to one of
these values.

Scope Value Description

Local Data defined in the current chart only.
Constant Read-only constant value that is visible to the parent Stateflow
object and its children.
Parameter Constant whose value is defined in the MATLAB workspace, or
derived from a Simulink block parameter that you define and
initialize in the parent masked subsystem. The Stateflow data
object must have the same name as the parameter.

To learn how to use Simulink block parameters with charts,

see Share Simulink Parameters with Charts on page
8-24.
Input Input argument to a function if the parent is a graphical
function, truth table, or MATLAB function. Otherwise, the
Simulink model provides the data to the chart via an input
port on the Stateflow block. See Share Output Data with
Simulink on page 8-23.
Output Return value of a function if the parent is a graphical function,
truth table, or MATLAB function. Otherwise, the chart
provides the data to the Simulink model via an output port on
the Stateflow block. See Share Output Data with Simulink on
page 8-23.
Data Store Memory Data object that binds to a Simulink data store, which is a
signal that functions like a global variable. All blocks in a
model can access that signal. This binding allows the chart to
read and write the Simulink data store, sharing global data
with the model. The Stateflow object must have the same name
as the Simulink data store. See Access Data Store Memory
from a Chart on page 8-29.
Temporary Data that persists during only the execution of a function. For
C charts, you can define temporary data only for a graphical
function, truth table, or MATLAB function, as described in
Define Temporary Data on page 8-53.

8-7
8 Define Data

Scope Value Description

Exported Data from the Simulink model that is made available to
external code defined in the Stateflow hierarchy. You can
define exported data only for a Stateflow machine.
Imported Data parented by the Simulink model that you define in
external code embedded in the Stateflow machine. You can
define imported data only for a Stateflow machine.

Port

Index of the port associated with the data object. This property applies only to input and
output data. See Share Output Data with Simulink on page 8-23.

Data must resolve to signal object

Option that specifies that output or local data explicitly inherits properties from
Simulink.Signal objects of the same name in the MATLAB base workspace or the
Simulink model workspace. The data can inherit these properties:

Size
Complexity
Type
Unit
Minimum value
Maximum value
Initial value
Storage class
Sampling mode (for Truth Table block output data)

For more information, see Resolve Data Properties from Simulink Signal Objects on
page 8-59.

This option appears only if you set the model configuration parameter Signal
resolution to a value other than None.

Size

Size of the data object. The size can be a scalar value or a MATLAB vector of values. To
specify a scalar, set the Size property to 1 or leave it blank. To specify a MATLAB vector

8-8
 Set Data Properties

use a multidimensional array. The number of dimensions equals the length of the vector
and the size of each dimension corresponds to the value of each vector element.

The scope of the data object determines what sizes you can specify. Stateflow data store
memory inherits all its properties, including its size, from the Simulink data store
to which it is bound. For all other scopes, size can be scalar, vector, or a matrix of n-
dimensions.

For more information, see Size Stateflow Data on page 8-44.

Variable size

Option that specifies whether the data object changes dimensions during simulation.
When you enable the chart property Support variable-size arrays, this option is
available only for input and output data. For more information, see Variable-Size Data.

Complexity

Option that specifies whether the data object accepts complex values. You can choose one
of these settings.

Complexity Setting Description

Off Data object does not accept complex values.
On Data object accepts complex values.
Inherited Data object inherits the complexity setting from a Simulink
block.

For more information, see How Complex Data Works in C Charts on page 21-2.

Type

Type of data object. Specify the data type by:

From the Type drop-down list, select a built-in type.

In the Data properties dialog box, use the Data Type Assistant to specify a data
Mode and then specify the data type based on that mode. To display the Data Type

Assistant, click the Show data type assistant button . The Data Type
Assistant is available only in the Data properties dialog box. It is not available in the
Symbols window.

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8 Define Data

In the Type field, enter an expression that evaluates to a data type.

Note: If you enter an expression for a fixed-point data type, you must specify
scaling explicitly. For example, you cannot enter an incomplete specification such
as fixdt(1,16) in the Type field. If you do not specify scaling explicitly, an error
appears when you try to simulate your model.

To ensure that a data type definition is valid for fixed-point data, use one of the two
options.

For more information, see Type Stateflow Data on page 8-36.

Lock data type setting against changes by the fixed-point tools

Prevents replacement of the current fixed-point type with a type that the Fixed-Point
Tool (Fixed-Point Designer) or Fixed-Point Advisor (Fixed-Point Designer) chooses.
For methods on autoscaling fixed-point data, see Choosing a Range Collection Method
(Fixed-Point Designer).

Unit (e.g., m, m/s^2, N*m)

For input and output data, you can specify physical units. See Units in Stateflow on
page 22-43.

Initial value

Initial value of the data object. If you do not specify a value, the default is 0.0. The
options for initializing values depend on the scope of the data object.

Scope What to Specify for Initial Value

Local Expression or parameter defined in the Stateflow hierarchy,
MATLAB workspace, or Simulink masked subsystem
Constant Constant value or expression. The expression is evaluated when
you update the chart, and the resulting value is used as a constant
for running the chart.
Parameter You cannot enter a value. The chart inherits the initial value from
the parameter.
Input You cannot enter a value. The chart inherits the initial value from
the Simulink input signal on the designated port.

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 Set Data Properties

Scope What to Specify for Initial Value

Output Expression or parameter defined in the Stateflow hierarchy,
MATLAB workspace, or Simulink masked subsystem.
Data Store Memory You cannot enter a value. The chart inherits the initial value from
the Simulink data store to which it resolves.

For more information, see Initialize Data from the MATLAB Base Workspace on page
8-25 and Share Simulink Parameters with Charts on page 8-24.

Limit range properties

Range of acceptable values for this data object. Stateflow software uses this range
to validate the data object during simulation. To establish the range, specify these
properties:

Minimum The smallest value allowed for the data item during simulation. You
can enter an expression or parameter that evaluates to a numeric scalar value.
Maximum The largest value allowed for the data item during simulation. You can
enter an expression or parameter that evaluates to a numeric scalar value.

The smallest value you can set for Minimum is -inf. The largest value you can set for
Maximum is inf.

Note: A Simulink model uses the Limit range properties to calculate best-precision
scaling for fixed-point data types. Specify a minimum or maximum value before you
select Calculate Best-Precision Scaling in the General pane. For more information,
see Calculate Best-Precision Scaling on page 8-14.

For more information on entering values for Limit range properties, see Enter
Expressions and Parameters for Data Properties on page 8-20.

Add to Watch Window

Option for watching the data values in the Stateflow Breakpoints and Watch window (see
Watch Stateflow Data Values on page 29-35).

Fixed-Point Data Properties

Properties that apply to fixed-point data. These fixed-point properties are available only
in the Data properties dialog box.

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8 Define Data

When the Data Type Assistant Mode is Fixed point the Data Type Assistant displays
fields for specifying additional information about your fixed-point data.

If the Scaling is Slope and bias rather than Binary point, the Data Type Assistant
displays a Slope field and a Bias field rather than a Fraction length field.

8-12
 Set Data Properties

You can use the Data Type Assistant to set these fixed-point properties:

Signedness

Specify whether you want the fixed-point data to be Signed or Unsigned. Signed data
can represent positive and negative values, but unsigned data represents positive values
only. The default setting is Signed.

Word length

Specify the bit size of the word that holds the quantized integer. Large word sizes
represent large values with greater precision than small word sizes. The default bit size
is 16.

For chart-level data of the following scopes, word length can be any integer from 0
through 128.

Input
Output
Parameter
Data Store Memory
For other Stateflow data, word length can be any integer from 0 through 32.

Scaling

Specify the method for scaling your fixed-point data to avoid overflow conditions and
minimize quantization errors. The default method is Binary point scaling. You can
select one of two scaling modes.

Scaling Mode Description

Binary If you select this mode, the Data Type Assistant displays the Fraction
point length field, which specifies the binary point location.

Binary points can be positive or negative integers. A positive integer

moves the binary point left of the rightmost bit by that amount. For
example, an entry of two sets the binary point in front of the second bit
from the right. A negative integer moves the binary point further right of
the rightmost bit by that amount, as in this example:

8-13
8 Define Data

Scaling Mode Description

The default binary point is 0.

Slope and If you select this mode, the Data Type Assistant displays fields for
bias entering the Slope and Bias.

Slope can be any positive real number. The default slope is 1.0. Bias
can be any real number. The default bias is 0.0. You can enter slope and
bias as expressions that contain parameters you define in the MATLAB
workspace.

Note: Use binary-point scaling whenever possible to simplify the implementation of

fixed-point data in generated code. Operations with fixed-point data that use binary-
point scaling are performed with simple bit shifts and eliminate expensive code
implementations required for separate slope and bias values.

For more information about fixed-point scaling, see Scaling (Fixed-Point Designer).

Data type override

Specify whether to inherit the data type override setting of the Fixed-Point Tool that
applies to this model. If the data does not inherit the model-wide setting, the specified
data type applies. For more information about the Fixed-Point Tool, see fxptdlg.

Calculate Best-Precision Scaling

Calculate best-precision values for Binary point and Slope and bias scaling,
based on the Limit range properties that you specify in the General tab of the Data
properties dialog box.

To automatically calculate best precision scaling values:

1 In the Data properties dialog box, click the General tab.

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 Set Data Properties

2 Specify Limit range properties.

3 Click Calculate Best-Precision Scaling.

Simulink software calculates the scaling values and displays them in the Fraction
length field or the Slope and Bias fields. For more information, see Constant Scaling
for Best Precision (Fixed-Point Designer).

Note: The Limit range properties do not apply to Constant and Parameter scopes. For
Constant, Simulink software calculates the scaling values based on the Initial value
setting. The software cannot calculate best-precision scaling for data of Parameter
scope.

Show Fixed-Point Details

Option in the Data properties dialog box when you specify a fixed-point data type. To see
information about the fixed-point data type that is defined in the Data Type Assistant,
use the Fixed-point details section. Click the expander next to Fixed-point details in
the Data Type Assistant.

8-15
8 Define Data

8-16
 Set Data Properties

The rows labeled Minimum and Maximum show the same values that appear in the
corresponding Minimum and Maximum fields in the Limit range section. See Signal
Ranges (Simulink) and Specify Minimum and Maximum Values for Block Parameters
(Simulink).

The rows labeled Representable minimum, Representable maximum, and

Precision show the minimum value, maximum value, and precision that can be
represented by the fixed-point data type currently displayed in the Data Type Assistant.

The values displayed by the Fixed-point details subpane do not automatically update
if you click Calculate Best-Precision Scaling, or change the range limits, the values
that define the fixed-point data type, or anything elsewhere in the model. To update the
values shown in the Fixed-point details subpane, click Refresh Details. The Data
Type Assistant then updates or recalculates all values and displays the results.

Clicking Refresh Details does not change anything in the model; it changes only the
display. Click OK or Apply to put the displayed values into effect. If the value of a
field cannot be known without first compiling the model, the Fixed-point details
subpane shows the value as Unknown. If errors occur when you click Refresh Details,
the subpane shows an error flag on the left of the applicable row and a description of the
error on the right. For example, the next figure shows two errors.

8-17
8 Define Data

The row labeled Minimum shows the error Cannot evaluate because evaluating the
expression MySymbol, specified in the Minimum field of the Limit range section,
cannot return a numeric value. When an expression does not evaluate successfully,
the Fixed-point details subpane shows the unevaluated expression (truncating to 10
characters as needed) in place of the unavailable value.

8-18
 Set Data Properties

To correct this error, define MySymbol in the base workspace to provide a numeric value.
If you click Refresh Details, the value of MySymbol appears in place of the unevaluated
text. The error indicator and description are deleted.

To correct the overflow error for Maximum, change the fixed-point data type so that it can
represent the maximum value you specify.

Decrease the value in the Maximum field of the Limit range section.
Increase Word length.
Decrease Fraction length.

Set Properties in the Logging Section

You can set these properties in the Logging section.

Log signal data

Saves the data value to the MATLAB workspace during simulation.

Test point

Designates the data as a test point. A test point is a signal that you can observe in a
Floating Scope block in a model (see Test Points (Simulink)). Data objects can be test
points if:

Scope is Local.
Parent is not a Stateflow machine.
Data type is not ml.

Logging name

Specifies the name associated with logged signal data. Simulink software uses the signal
name as its logging name by default. To specify a custom logging name, select Custom
from the list box and enter the new name in the adjacent edit field.

Limit data points to last

Limits the amount of data logged to the most recent samples.

Decimation

Limits the amount of data logged by skipping samples. For example, a decimation factor
of 2 saves every other sample.

8-19
8 Define Data

Set Properties in the Description Pane

For C charts, in the Data properties dialog box, you can set these properties in the
Description pane.

Save final value to base workspace

Option that assigns the value of the data item to a variable of the same name in the base
workspace at the end of simulation (see Model Workspaces (Simulink)).

First index

Index of the first element of the data array. The default value is 0.

Units

Units of measurement that you want to associate with the data object. The unit in this
field resides with the data object in the Stateflow hierarchy.

Description

Description of the data object.

Document link

Link to online documentation for the data object. You can enter a web URL address or a
MATLAB command that displays documentation in a suitable online format, such as an
HTML file or text in the MATLAB Command Window. When you click the Document
link hyperlink at the bottom of the properties dialog box, Stateflow software evaluates
the link and displays the documentation.

Enter Expressions and Parameters for Data Properties

In the Data properties dialog box, you can enter expressions as values for these
properties.

Size on page 8-8

Type on page 8-9
Initial value on page 8-10
Minimum and Maximum (see Limit range properties on page 8-11)

8-20
 Set Data Properties

Fixed-Point Data Properties on page 8-11

Expressions can contain a mix of parameters, constants, arithmetic operators, and calls
to MATLAB functions.

Default Data Property Values

When you leave an expression or parameter field blank, Stateflow software assumes a
default value.

Field Default
Initial value 0.0
Maximum inf
Minimum inf
Word length 16
Slope 1.0
Bias 0.0
Binary point 0
First index 0
Size -1 (inherited), for inputs, parameters, and function outputs
1 (scalar), for other data objects

Use Parameters in Expressions

You can include parameters in expressions. A parameter is a constant that you can:

Define in the MATLAB workspace (see Initialize Data from the MATLAB Base
Workspace on page 8-25)
Derive from a Simulink block parameter that you define and initialize in the parent
masked subsystem (see Share Simulink Parameters with Charts on page 8-24)

You can mix both types of parameters in an expression.

Use Constants in Expressions

For expressions in the Data properties dialog box, you can use numeric constants of the
appropriate type and size. Do not use Stateflow constants in these expressions.

8-21
8 Define Data

Use Arithmetic Operators in Expressions

In the Data properties dialog box, you can use these arithmetic operators in expressions.

+

*
/

Call Functions in Expressions

In fields that accept expressions, you can call functions that return property values of
other variables defined in the Stateflow hierarchy, MATLAB workspace, or Simulink
masked subsystem. For example, these functions can return appropriate values for
specified fields in the Data properties dialog box.

Function Returns For Field

Stateflow function Type of input data Data type
type
MATLAB function Smallest element or Minimum
min elements of input array
MATLAB function Largest element or elements Maximum
max of input array
Simulink function Simulink.NumericType Data type
fixdt object that describes a fixed-
point or floating-point data
type

More About
Type Stateflow Data on page 8-36
Size Stateflow Data on page 8-44
Identify Data Using Dot Notation on page 8-54
Best Practices for Using Data in Charts on page 8-63

8-22
 Share Data with Simulink and MATLAB Workspace

Share Data with Simulink and MATLAB Workspace

In this section...
Share Input Data with Simulink on page 8-23
Share Output Data with Simulink on page 8-23
Share Simulink Parameters with Charts on page 8-24
Initialize Data from the MATLAB Base Workspace on page 8-25
Save Data to the MATLAB Workspace on page 8-26

Share Input Data with Simulink

Data flows from Simulink into a chart via input ports on the chart.

To add input data to a chart:

1 Add a data object to the chart, as described in Add Data from the Stateflow Editor
on page 8-2.

Note: Add the data to the chart itself, not to any other object in the chart.
2 In the Symbols window, set the TYPE to Input Data.

An input port appears on the block in the model.

You can change port assignments by editing the value in the PORT field.
3 Set the data type of the input data, as described in Type Stateflow Data on page
8-36.
4 Set the size of the input data, as described in Size Stateflow Data on page 8-44.

Note: You cannot type or size Stateflow input data to accept frame-based data from
Simulink.

Share Output Data with Simulink

Data flows from a chart into Simulink via output ports on the chart.

8-23
8 Define Data

To add output data to a chart:

1 Add a data object to the chart, as described in Add Data from the Stateflow Editor
on page 8-2.

Note: Add data to the chart itself, not to any other object in the chart.
2 In the Symbols window, set the TYPE property to Output Data.

An output port appears on the block in the model.

You assign outputs to ports in the order in which you add the data. For example, you
assign the third output to output port 3. You can change port assignments by editing
the value in the PORT field.
3 Set the type of the output data, as described in Type Stateflow Data on page
8-36.
4 Set the size of the output data, as described in Size Stateflow Data on page
8-44.

Share Simulink Parameters with Charts

When to Share Simulink Parameters

Share Simulink parameters with charts to maintain consistency with your Simulink
model. By using parameters, you can also avoid hard-coding data sizes and types.

You can use parameters defined in a Stateflow chart in multiple Stateflow objects in the
chart, such as states, MATLAB functions and truth tables.

How to Share Simulink Parameters

To share Simulink parameters for a masked subsystem with a chart, follow these steps:

1 In the Simulink mask editor for the parent subsystem, define and initialize a
Simulink parameter.
2 In the Stateflow hierarchy, define a data object with the same name as the
parameter (see Add Stateflow Data on page 8-2).
3 Set the scope of the data object to Parameter.

A chart defines data of scope Parameter as a constant. You cannot change a

parameter value during model execution.

8-24
 Share Data with Simulink and MATLAB Workspace

When simulation starts, Simulink tries to resolve the Stateflow data object to a
parameter at the lowest level masked subsystem. If unsuccessful, Simulink moves up
the model hierarchy to resolve the data object to a parameter at higher level masked
subsystems.

Initialize Data from the MATLAB Base Workspace

For C charts, you can initialize data from the MATLAB base workspace. Initialization
requires that you define data in both the MATLAB base workspace and the Stateflow
hierarchy as follows:

1 Define and initialize a variable in the MATLAB workspace.

2 In the Stateflow hierarchy, define a data object with the same name as the MATLAB
variable (see Add Stateflow Data on page 8-2).
3 Set the scope of the Stateflow data object to Parameter.

When simulation starts, data resolution occurs. During this process, the Stateflow data
object gets its initial value from the associated MATLAB variable. For example, if the
variable is an array, each element of the Stateflow array initializes to the same value as
the corresponding element of the MATLAB array.

One-dimensional Stateflow arrays are compatible with MATLAB row and column vectors
of the same size. For example, a Stateflow vector of size 5 is compatible with a MATLAB
row vector of size [1,5] or column vector of size [5,1].

Time of Initialization

Data parent and scope control initialization time for Stateflow data objects.

Data Parent Scope When Initialized

Machine Local, Exported Start of simulation
Imported Not applicable
Chart Input Not applicable
Output, Local Start of simulation or when
chart reinitializes as part of an
enabled Simulink subsystem
State with History Junction Local Start of simulation or when
chart reinitializes as part of an
enabled Simulink subsystem

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8 Define Data

Data Parent Scope When Initialized

State without History Junction Local State activation
Function (graphical, truth table, and Input, Output Function-call invocation
MATLAB functions) Local Start of simulation or when
chart reinitializes as part of an
enabled Simulink subsystem

Save Data to the MATLAB Workspace

For C charts, you can instruct the chart to save the final value of a data object at the end
of simulation in the MATLAB base workspace (not as a masked subsystem parameter)
for all scopes except Constant and Parameter.

Use one of these techniques:

In the Description pane of the Data properties dialog box, select Save final value
to base workspace.
In the Contents pane of the Model Explorer, follow these steps:

1 Select the row of the data object.

2 Select the check box in the SaveToWorkspace column.

8-26
 About Data Stores

About Data Stores

You can use an interface to direct charts to access global variables in Simulink models. A
Simulink model implements global variables as data stores, created either as data store
memory blocks or as instances of Simulink.Signal objects. Data stores enable multiple
Simulink blocks to share data without the need for explicit I/O connections to pass data
from one block to another. Stateflow charts share global data with Simulink models by
reading from and writing to data store memory symbolically.

You can use data stores with buses, but not with arrays of buses. For more information
about using data stores with buses, see "Using Data Stores with Buses and Arrays of
Buses" (Simulink).

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8 Define Data

How Charts Work with Local and Global Data Stores

Charts can interface with local and global data stores. Local data stores, often
implemented as data store memory blocks, are visible to all blocks in one model. To
interact with local data stores, a chart must reside in the model where you define the
local data store:

Global data stores have a broader scope, which crosses model reference boundaries. To
interact with global data stores, a chart must reside either in the top model where
the global data store is defined or in any model that the top model references. You
implement global data stores as Simulink signal objects.

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 Access Data Store Memory from a Chart

Access Data Store Memory from a Chart

To access global data in a Simulink model from a chart, you must bind a Stateflow data
object to a Simulink data store either a data store memory block or a signal object (see
Bind a Stateflow Data Object to Data Store Memory on page 8-29). After you create
the binding, the Stateflow data object becomes a symbolic representation of Simulink
data store memory. You can then use this symbolic object to store and retrieve global
data (see Read and Write Global Data Programmatically on page 8-30).

Bind a Stateflow Data Object to Data Store Memory

To bind a Stateflow data object to Simulink data store memory, you must create a data
object in the Stateflow hierarchy with the same name as the data store and with scope
set to Data Store Memory. The Stateflow data object inherits all properties from
the data store to which you bind the object. Follow guidelines for specifying data store
properties in Best Practices for Using Data Stores in Charts on page 8-35.

Note: You cannot edit properties that the data object inherits from the data store.

Use the Stateflow Editor to Bind a Data Object

In the Stateflow Editor, follow these steps:

1 Select Chart > Add Other Elements > Data Store Memory.

The properties dialog box for the new data object appears with scope property set to
Data Store Memory.
2 In the Name field of the Data properties dialog box, enter the name of the Simulink
data store to which you want to bind.
3 Click OK.

Use the Model Explorer to Bind a Data Object

In the Model Explorer, follow these steps:

1 Select Add > Data.

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8 Define Data

The Model Explorer adds a data object to the chart.

2 Double-click the new data object to open its properties dialog box, and enter the
following information in the General pane:

Field What to Specify

Name Enter the name of the Simulink data store memory block to which you
want to bind.
Scope Select Data Store Memory from the drop-down menu.
3 Click OK.

Resolve Data Store Bindings

Multiple local and global data stores with the same name can exist in the same model
hierarchy. In this situation, the Stateflow data object binds to the data store that is the
nearest ancestor.

Read and Write Global Data Programmatically

You can use the Stateflow data object that you bind to Simulink data store memory to
store and retrieve global data in states and transitions. Think of this object as a global
variable that you reference by its symbolic name the same name as the data store
to which you bind the object. When you store numeric values in this variable, you are
writing to Simulink data store memory. Similarly, when you retrieve numeric values
from this variable, you are reading from the data store memory.

The following chart reads from and writes to a data store memory block called myglobal.

8-30
Access Data Store Memory from a Chart

8-31
8 Define Data

Diagnostics for Sharing Data Between Charts and Simulink Blocks

Errors to Check For

Multiple reads and writes can occur unintentionally in the same time step. To detect
these situations, you can configure data store memory blocks to generate errors or
warnings for these conditions:

Read before write

Write after write
Write after read

Note: These diagnostics are available only for data store memory blocks used within a
single Simulink model, not for data stores created from Simulink signal objects. In other
words, these diagnostics do not work for global data stores that cross model reference
boundaries.

When to Enable Diagnostics

Enable diagnostics on data store memory blocks to ensure the validity of data that
multiple unconnected blocks share while running at different rates. In this scenario, you
can detect conditions when writes do not occur before reads in the same time step. To
prevent these violations, see Best Practices for Using Data Stores in Charts on page
8-35.

When to Disable Diagnostics

If you use a data store memory block as a persistent global storage area for accumulating
values across time steps, disable diagnostics to avoid generating unnecessary warnings.

How to Set Diagnostics for Shared Data

To set diagnostics on data store memory blocks, follow these steps:

1 Double-click the data store memory block in your Simulink model to open its Block
Parameters dialog box.

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 Diagnostics for Sharing Data Between Charts and Simulink Blocks

2 Click the Diagnostics tab.

3 Enable diagnostics by selecting warning or error from the drop-down menu for
each condition you want to detect.
4 Click OK.

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8 Define Data

Create a Global Data Store Across Multiple Models

To create read/write references to a global data store that you can share across multiple
models:

1 Define data store memory objects that reside in each chart that shares the data.

a Use the Model Explorer to add a data object to each chart, as described in Add
Data Through the Model Explorer on page 8-3.
b Give each data object the same name.
c Set the scope of each data object to Data Store Memory.
2 Verify that your models do not contain any Data Store Memory blocks.

However, you can include Data Store Read and Data Store Write blocks.
3 Create a Simulink.Signal object in the MATLAB base workspace.

a In the Model Explorer, navigate to Simulink Root > Base Workspace in the
Model Hierarchy pane.
b Select Add > Simulink Signal.
c Give the object the same name as the data store memory objects in your charts.
4 Verify that these settings apply to the Simulink.Signal object:

a Set Data type to an explicit data type.

The data type cannot be auto.

b Set Dimensions to be fully specified.

The signal dimensions cannot be 1, or inherited.

c Set Complexity to be fully specified.

The complexity cannot be Auto.

d Set Storage class to ExportedGlobal.

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 Best Practices for Using Data Stores in Charts

Best Practices for Using Data Stores in Charts

When Binding to Data Stores in Charts

When you bind a Stateflow data object to a data store, the Stateflow object inherits all
properties from the data store. To ensure that properties propagate correctly when you
access data stores, follow these guidelines to create data stores:

Specify a data type other than auto.

Minimize the use of automatic-mode properties.

When Enforcing Writes Before Reads in Unconnected Blocks

To enforce writes before reads when unconnected blocks share global data in charts,
follow these guidelines:

Segregate reads into separate blocks from writes.

Assign priorities to blocks so that your model invokes write blocks before read blocks.

For instructions on how to set block execution order, see Control and Display the
Sorted Order (Simulink).

8-35
8 Define Data

Type Stateflow Data

In this section...
What Is Data Type? on page 8-36
Specify Data Type with the Property Inspector on page 8-36
Specify Data Type with the Data Type Assistant on page 8-36
Built-In Data Types on page 8-39
Inherit Data Types from Simulink Objects on page 8-40
Derive Data Types from Previously Defined Data on page 8-40
Type Data by Using an Alias on page 8-41
Strong Data Typing with Simulink I/O on page 8-42

What Is Data Type?

The term data type refers to the way computers represent numbers in memory. The type
determines the amount of storage allocated to data, the method of encoding a data value
as a pattern of binary digits, and the operations available for manipulating the data.

Specify Data Type with the Property Inspector

To specify the data type in the editor:

1 Open the Symbols and Property Inspector windows from the View menu.
2 Select the data object row in the Symbols window.
3 In the Property Inspector, enter the data type directly in the Type field, or select it
from the Type drop-down list.

Specify Data Type with the Data Type Assistant

To specify the type of a Stateflow data object with the Data Type Assistant:

1 Open the Data properties dialog box.

2 Click the Data Type Assistant button.

8-36
 Type Stateflow Data

3 Choose a Mode in the Data Type Assistant section of the dialog box.

You can choose from these modes for each scope.

Scope Data Type Modes

Inherit Built in Fixed point Enumerated Expression Bus Object
Local For charts yes yes yes yes yes
that use
MATLAB as
the action
language,
yes
Constant yes yes yes
Parameter yes yes yes yes yes yes
Input yes yes yes yes yes yes
Output yes yes yes yes yes yes
Data Store yes
Memory
4 Based on the mode you select, specify a data type.

Mode What To Specify

Inherit You cannot specify a value. You inherit the data type based on the scope you
select for the data object:

For charts that use MATLAB as the action language, if scope is Local, you
infer the data type from the context of the MATLAB code in the chart.
If scope is Input, you inherit the data type from the Simulink input signal on
the designated input port (see Share Output Data with Simulink on page
8-23).
If scope is Output, you inherit the data type from the Simulink output signal
on the designated output port (see Share Output Data with Simulink on
page 8-23).

Note: Avoid inheriting data types from output signals. See Avoid inheriting
output data properties from Simulink blocks on page 8-63.
8-37
8 Define Data

Mode What To Specify

If scope is Parameter, you inherit the data type from the associated
parameter, which you can define in a Simulink model or the MATLAB
workspace (see Share Data with Simulink and MATLAB Workspace on
page 8-23).
If scope is Data Store Memory, you inherit the data type from the Simulink
data store to which you bind the data object (see Access Data Store Memory
from a Chart on page 8-29).
Built in Select a data type from the drop-down list of supported data types, as described
in Built-In Data Types on page 8-39.
Fixed point Specify the following information about the fixed-point data:

Whether the data is signed or unsigned

Word length
Scaling mode

For information on how to specify these fixed-point data properties, see Fixed-
Point Data Properties on page 8-11.
Enumerated Specify the class name for the enumerated data type. For more information, see
Define Enumerated Data in a Chart on page 18-8.
Expression Enter an expression that evaluates to a data type in the Type field. You can use
these expressions:

Alias type from the MATLAB workspace, as described in Type Data by

Using an Alias on page 8-41
type operator to specify the type of previously defined data, as described in
Derive Data Types from Previously Defined Data on page 8-40
fixdt function to create a Simulink.NumericType object that describes a
fixed-point or floating-point data type

For more information on how to build expressions in the Data properties dialog
box, see Enter Expressions and Parameters for Data Properties on page 8-20.

8-38
 Type Stateflow Data

Mode What To Specify

Bus object In the Bus object field, enter the name of a Simulink.Bus object to associate
with the Stateflow bus object structure. You must define the bus object in the
base workspace. If you have not yet defined a bus object, click Edit to create or
edit a bus object in the Bus Editor.

Note: You can also inherit bus object properties from Simulink signals.
5 Click Apply to save the data type settings.

Note: The Data Type Assistant is available only with the Data properties dialog box. It is
not available with the Symbols window.

Built-In Data Types

You can choose from these built-in data types:

Data Type Description

double 64-bit double-precision floating point
single 32-bit single-precision floating point
int32 32-bit signed integer
int16 16-bit signed integer
int8 8-bit signed integer
uint32 32-bit unsigned integer
uint16 16-bit unsigned integer
uint8 8-bit unsigned integer
boolean Boolean (1 = true; 0 = false)
ml Typed internally with the MATLAB array mxArray.
The ml data type provides Stateflow data with the
benefits of the MATLAB environment, including
the ability to assign the Stateflow data object to
a MATLAB variable or pass it as an argument to
a MATLAB function. See ml Data Type on page
11-43.

8-39
8 Define Data

Data Type Description

Note: ml data cannot have a scope outside the
Stateflow hierarchy; that is, it cannot have a scope of
Input to Simulink or Output to Simulink.

Inherit Data Types from Simulink Objects

Stateflow data objects of scope Input, Output, Parameter, and Data Store Memory
can inherit their data types from Simulink objects, as follows:

Scope: Can inherit type from:

Input Simulink input signal connected to corresponding input port in
chart
Output Simulink output signal connected to corresponding output port in
chart

Note: Avoid inheriting data types from output signals. See Avoid
inheriting output data properties from Simulink blocks on page
8-63.
Parameter Corresponding MATLAB workspace variable or Simulink
parameter in a masked subsystem
Data Store Memory Corresponding Simulink data store

To configure these objects to inherit data types, create the corresponding objects in the
Simulink model, and then select Inherit: Same as Simulink from the Type drop-
down list in the Data properties dialog box. For more information, see Specify Data Type
with the Data Type Assistant on page 8-36.

To determine the data types that the objects inherit, build the Simulink model and look
at the Compiled Type column for each Stateflow data object in the Model Explorer.

Derive Data Types from Previously Defined Data

You can use the type operator to derive data types from previously defined Stateflow
data. In the following example, the expression type(inbus) specifies the data type
of the Stateflow structure counterbus_struct, where inbus is defined by the

8-40
 Type Stateflow Data

Simulink.Bus object COUNTERBUS. Therefore, the structure counterbus_struct also

derives its data type from the bus object COUNTERBUS.

After you build your model, the Compiled Type column of the Model Explorer shows the
type of each data object in the compiled simulation application. For more information, see
type Operator on page 11-25.

Type Data by Using an Alias

You can specify the type of Stateflow data by using a Simulink data type alias (see
Simulink.AliasType in the Simulink Reference documentation). Suppose that you
define a data type alias named MyFloat as follows:

MyFloat = Simulink.AliasType;
MyFloat.BaseType = 'single';

In the following example, the data y has the same type as MyFloat.

8-41
8 Define Data

After you build your model, the Compiled Type column of the Model Explorer shows the
type used in the compiled simulation application.

Strong Data Typing with Simulink I/O

By default, inputs to and outputs from charts are of type double. Input signals from
Simulink models convert to the type of the corresponding input data objects in charts.
Likewise, the data output objects convert to double before they are exported as output
signals to Simulink models.

To interface directly with signals of data types other than double without the need for
conversion, select Use Strong Data Typing with Simulink I/O in the chart properties.
The chart accepts input signals of any data type that Simulink supports, as long as the
data type of the input signal matches the type of the corresponding Stateflow data object.
Otherwise, you receive a type mismatch error.

Note: For fixed-point data, select Use Strong Data Typing with Simulink I/O to flag
mismatches between input or output fixed-point data in charts and their counterparts in
Simulink models.

8-42
 Type Stateflow Data

More About
Specify Chart Properties on page 22-3
About Data Types in Simulink (Simulink)

8-43
8 Define Data

Size Stateflow Data

In this section...
Methods for Sizing Stateflow Data on page 8-44
How to Specify Data Size on page 8-45
Inherit Input or Output Size from Simulink Signals on page 8-45
Guidelines for Sizing Data with Numeric Values on page 8-45
Guidelines for Sizing Data with MATLAB Expressions on page 8-46
Examples of Valid Data Size Expressions on page 8-47
Name Conflict Resolution for Variables in Size Expressions on page 8-47
Best Practices for Sizing Stateflow Data on page 8-47

Methods for Sizing Stateflow Data

You can specify the size of Stateflow data by:

Inheriting the size from a Simulink signal

Using numeric values
Using MATLAB expressions

Support for a sizing method depends on the scope of your data:

Scope of Data Method for Sizing Data
Inherit the Size Use Numeric Values Use MATLAB
Expressions
Local No Yes Yes
Constant No Yes Yes
Parameter No Yes Yes
Input Yes Yes Yes
Output Yes Yes Yes
Data store memory Yes No No

Stateflow data store memory inherits all data properties, including size, from the
Simulink data store to which it resolves. You cannot specify any properties explicitly for
data store memory.

8-44
 Size Stateflow Data

How to Specify Data Size

Specify the size of Stateflow data by setting the Size property in the Property Inspector
or the Data properties dialog box. To specify the size of Stateflow data using API
commands, set the Props.Array.Size property to a numeric value or a MATLAB
expression that represents a scalar, vector, matrix, or n-dimensional array. For more
information on using the API, see Stateflow.Data Properties.

Inherit Input or Output Size from Simulink Signals

To configure Stateflow input and output data to inherit size from the corresponding
Simulink input and output signals, enter 1 in the Size field of the data properties. This
default setting applies to input and output data that you add to your chart. After you
build your model, the Compiled Size column of the Model Explorer displays the actual
size that the compiled simulation application uses.

The equivalent API command for specifying an inherited data size is:
data_handle.Props.Array.Size = '-1';

Chart actions that store values in the specified output infer the inherited size of output
data. If the expected size in the Simulink signal matches the inferred size, inheritance is
successful. Otherwise, a mismatch occurs during build time.

Note: Charts cannot inherit frame-based data sizes from Simulink signals.

Guidelines for Sizing Data with Numeric Values

When you specify data size using numeric values in the Size field of the Data properties
dialog box, follow these guidelines:

Dimensionality What to Specify in the Dialog Box Equivalent API Command

Scalar 1 (or leave the field blank) data_handle.Props.Array.Size =
'1';
data_handle.Props.Array.Size =
'';
Vector The number of elements in the row or data_handle.Props.Array.Size =
column vector 'number_of_elements';

8-45
8 Define Data

Dimensionality What to Specify in the Dialog Box Equivalent API Command

Matrix An expression of the format data_handle.Props.Array.Size =
[r c], where: '[r c]';

r is the number of rows

c is the number of columns
N-dimensional An expression of the format data_handle.Props.Array.Size
array [Size_of_dim1 Size_of_dim2 = '[Size_of_dim1 Size_of_dim2
... Size_of_dimN], where: ... Size_of_dimN];

Size_of_dim1 is the size of the

first dimension
Size_of_dim2 is the size of the
second dimension
Size_of_dimN is the size of the N-
th dimension

One-dimensional Stateflow vectors are compatible with Simulink row or column vectors
of the same size. For example, Stateflow input or output data of size 3 is compatible with
a Simulink row vector of size [1 3] or column vector of size [3 1].

Guidelines for Sizing Data with MATLAB Expressions

When you specify data size using MATLAB expressions, follow the same guidelines
that apply to sizing with numeric values (see Guidelines for Sizing Data with Numeric
Values on page 8-45). The following guidelines also apply.

Expressions that specify the size of a dimension:

Can contain a mix of numeric values, variables, arithmetic operators, parameters,

and calls to MATLAB functions.
Must evaluate to a positive integer value.
To specify inherited data size, you must enter 1 in the Size field or set the
Props.Array.Size property for the data to 1. Expressions cannot evaluate to a
value of 1.
If the expression contains an enumerated value, you must include the type prefix for
consistency with MATLAB naming rules.

8-46
 Size Stateflow Data

For example, Colors.Red is valid but Red is not.

You cannot size Stateflow input data with an expression that accepts frame-based
data from Simulink.

Examples of Valid Data Size Expressions

The following examples are valid MATLAB expressions for sizing data in your chart:

K+3, where K is a chart-level Stateflow data

N/2, where N is a variable in the MATLAB base workspace
2*Colors.Red, where Red is an enumerated value of type Colors
[fi(2,1,16,2) fi(4,1,16,2)], which specifies a data size of [2 4] using a
signed fixed-point type with word length of 16 and fraction length of 2

Name Conflict Resolution for Variables in Size Expressions

When multiple variables with identical names exist in a model, the variable with the
highest priority applies:

1 Mask parameters
2 Model workspace
3 MATLAB base workspace
4 Stateflow data

Best Practices for Sizing Stateflow Data

Avoid use of variables that can lead to naming conflicts

For example, if a variable named off exists in the MATLAB base workspace and as local
chart data, do not use off in the Size field of the data properties.

Avoid use of size(u) expressions

Instead of using a size(u) expression, use a MATLAB expression that evaluates

directly to the size of Stateflow data.

8-47
8 Define Data

More About
Stateflow Data Properties on page 8-6

8-48
 Handle Integer Overflow for Chart Data

Handle Integer Overflow for Chart Data

In this section...
When Integer Overflow Can Occur on page 8-49
Support for Handling Integer Overflow in Charts on page 8-49
Effect of Integer Promotion Rules on Saturation on page 8-51
Impact of Saturation on Error Checks on page 8-52

When Integer Overflow Can Occur

For some arithmetic operations, a processor might need to take an n-bit fixed-point value
and store it in m bits, where m n. If m < n, the reduced range of the value can cause an
overflow for an arithmetic operation. Some processors identify this overflow as Inf or
NaN. Other processors, especially digital signal processors (DSPs), handle overflows by
saturating or wrapping the value.

For more information about saturation and wrapping for integer overflow, see
Saturation and Wrapping (Fixed-Point Designer).

Support for Handling Integer Overflow in Charts

For charts, you can control whether or not saturation occurs for integer overflow. Use the
chart property, Saturate on integer overflow, to control overflow handling.

8-49
8 Define Data

Check Box When to Use This Setting Overflow Handling Example of the Result
Selected Overflow is possible Overflows saturate to An overflow associated
for data in your chart either the minimum or with a signed 8-bit integer
and you want explicit maximum value that the saturates to 128 or +127
saturation protection in data type can represent. in the generated code.
the generated code.
Cleared You want to optimize The handling of overflows The number 130 does not
efficiency of the generated depends on the C fit in a signed 8-bit integer
code. compiler that you use for and wraps to 126 in the
generating code. generated code.

Arithmetic operations for which you can enable saturation protection are:

Unary minus: a

8-50
 Handle Integer Overflow for Chart Data

Binary operations: a + b, a b, a * b, a / b, a ^ b
Assignment operations: a += b, a =b, a *= b, a /= b
In C charts, increment and decrement operations: ++, --

Keep the following considerations in mind when you select Saturate on integer
overflow:

Saturation applies to all intermediate operations, not just the output or final result.
The code generator can detect cases when overflow is not possible. In these cases, the
generated code does not include saturation protection.

Effect of Integer Promotion Rules on Saturation

Charts use ANSI C rules for integer promotion.

All arithmetic operations use a data type that has the same word length as the target
word size. Therefore, the intermediate data type in a chained arithmetic operation
can be different from the data type of the operands or the final result.
For operands with integer types smaller than the target word size, promotion to a
larger type of the same word length as the target size occurs. This implicit cast occurs
before any arithmetic operations take place.

For example, when the target word size is 32 bits, an implicit cast to int32 occurs
for operands with a type of uint8, uint16, int8, or int16 before any arithmetic
operations occur.

Suppose that you have the following expression, where y, u1, u2, and u3 are of uint8
type:
y = (u1 + u2) - u3;

Based on integer promotion rules, that expression is equivalent to the following

statements:
uint8_T u1, u2, u3, y;
int32_T tmp, result;
tmp = (int32_T) u1 + (int32_T) u2;
result = tmp - (int32_T) u3;
y = (uint8_T) result;

For each calculation, the following data types and saturation limits apply.

8-51
8 Define Data

Calculation Data Type Saturation Limits

tmp int32 (MIN_INT32, MAX_INT32)
result int32 (MIN_INT32, MAX_INT32)
y uint8 (MIN_UINT8, MAX_UINT8)

Suppose that u1, u2, and u3 are equal to 200. Because the saturation limits depend on
the intermediate data types and not the operand types, you get the following values:

tmp is 400.
result is 200.
y is 200.

Impact of Saturation on Error Checks

Suppose that you set Wrap on overflow in the Diagnostics: Data Validity pane of
the Model Configuration Parameters dialog box to error or warning. When you select
Saturate on integer overflow, Stateflow does not flag cases of integer overflow during
simulation. However, Stateflow continues to flag the following situations:

Out-of-range data violations based on minimum and maximum range checks

Division-by-zero operations

8-52
 Define Temporary Data

Define Temporary Data

In this section...
When to Define Temporary Data on page 8-53
How to Define Temporary Data on page 8-53

When to Define Temporary Data

In C charts, define temporary data when you want to use data that is only valid while a
function executes. In charts that use MATLAB as the action language, you do not need
to define temporary function data in the Model Explorer. If a variable is used and not
previously defined, then it is automatically created. The variable is available to the rest
of the function.

You can define temporary data in graphical, truth table, and MATLAB functions in your
chart. For example, you can designate a loop counter to have Temporary scope if the
counter value does not need to persist after the function completes.

How to Define Temporary Data

To define temporary data for a Stateflow function, follow these steps:

1 Open the Model Explorer.

2 In the Model Explorer, select the graphical, truth table, or MATLAB function that
will use temporary data.
3 Select Add > Data.

The Model Explorer adds a default definition for the data in the Stateflow hierarchy,
with a scope set to Temporary by default.
4 Change other properties of the data if necessary, as described in Set Data
Properties on page 8-6.

8-53
8 Define Data

Identify Data Using Dot Notation

In this section...
What Is Dot Notation? on page 8-54
Resolution of Qualified Data Names with Dot Notation on page 8-55
Best Practices for Using Dot Notation in Qualified Data Names on page 8-56

What Is Dot Notation?

Dot notation is a way to identify data and functions at a specific level of the chart
hierarchy. A qualified data or function name uses dot notation to specify the path to the
parent state for that data or function.

For example, you can specify qualified data names in state actions and transitions by
using dot notation.

In this chart, data resides in the state aa. The qualified data names in state actions and
transitions use dot notation to refer to this data.

In state a, the entry action contains the qualified data name aa.data.
In state b, the entry action contains the qualified data name a.aa.data.
In the default transition, the action contains the qualified data name a.aa.data.

8-54
 Identify Data Using Dot Notation

Resolution of Qualified Data Names with Dot Notation

During simulation, the chart searches for data that matches the qualified data name
with dot notation. These rules apply:

The chart does not do an exhaustive search of all data.

The chart does not stop searching after finding one match. The search continues until
it reaches the chart level.

Display an
error
message.

Process for Resolving Qualified Data Names

8-55
8 Define Data

The flow chart describes the following search process.

Stage Action
1 The search begins at the level of the hierarchy where the qualified data name
appears.

For a state action, that state is the starting point.

For a transition label, the parent of the source object is the starting point.
2 The chart searches at that level of the hierarchy for a path to the data. If the
chart finds a match, it adds that path to the list of possible matches.
3 The chart moves up to the next highest level of the hierarchy. At that level,
the chart searches for a path to the data. If the chart finds a match, it adds
that path to the list of possible matches.
4 The previous step repeats until the search reaches the chart level.
5 At the chart level, one more search occurs for a path to the data. If a match
exists, that path becomes part of the list of possible matches. Then, the search
ends.
6 After the search ends, one of the following occurs:

If a unique match exists, the statement containing the qualified data name
executes.
If no matches or multiple matches exist, an error message appears.

Best Practices for Using Dot Notation in Qualified Data Names

These examples show how to avoid problems when using dot notation in qualified data
names.

Use a Specific Path in the Qualified Data Name

Be specific when defining the path to the data.

8-56
 Identify Data Using Dot Notation

Suppose that state aa contains data. In state b, the entry action contains aa.data, a
qualified data name that the chart cannot resolve. The following search process occurs:

Stage Action Finds a Match?

1 Chooses state b as the starting point and searches No
at that level for an object aa that contains data.
2 Moves up to the next level of the hierarchy and No
searches at the chart level for an object aa that
contains data.

The search ends, and an error message appears because no match exists for aa.data.

To avoid this error, use a specific path for the qualified data name in the entry action of
state b:

en: a.aa.data+=1;

Use Unique State Names

Use unique names when you name the states in a chart.

8-57
8 Define Data

Suppose that both states named aa contain a data object named data. In state a, the
entry action contains two instances of aa.data that the chart cannot resolve. The
following search process occurs:

Stage Action Finds a Match?

1 Chooses state a as the starting point and searches Yes
at that level for an object aa that contains data.
2 Moves up to the next level of the hierarchy and Yes
searches at the chart level for an object aa that
contains data.

The search ends, and an error message appears because multiple matches exist for
aa.data.

To avoid this error, perform one of these corrective actions:

Rename one of the two states named aa.

Use a more specific path for the qualified data names in the entry action of state a:

en: y+=a.aa.data, a.aa.data+=1;

Enclose the outer state aa in a box or another state. Adding an enclosure prevents the
search process from detecting that outer state.

8-58
 Resolve Data Properties from Simulink Signal Objects

Resolve Data Properties from Simulink Signal Objects

In this section...
About Explicit Signal Resolution on page 8-59
Inherited Properties on page 8-59
Enable Signal Resolution on page 8-60
A Simple Example on page 8-60

About Explicit Signal Resolution

Stateflow local and output data in charts can explicitly inherit properties from
Simulink.Signal objects in the model workspace or base workspace. This process is
called signal resolution and requires that the resolved signal have the same name as the
chart output or local data.

For information about Simulink signal resolution, see Symbol Resolution (Simulink)
and Symbol Resolution Process (Simulink) in the Simulink documentation.

Inherited Properties
When Stateflow local or output data resolve to Simulink signal objects, they inherit these
properties:

Size
Complexity
Type
Minimum value
Maximum value
Initial value
Storage class

Storage class controls the appearance of chart data in the generated code. See
Control Data Representation by Applying Custom Storage Classes (Embedded
Coder).

8-59
8 Define Data

Enable Signal Resolution

To enable explicit signal resolution, follow these steps:

1 Set Configuration Parameters > Diagnostics > Data Validity > Signal
resolution to a value other than None. For more information about the other
options, see Signal resolution (Simulink).
2 In the model workspace, base workspace, or data dictionary, define a
Simulink.Signal object with the properties you want your Stateflow data to
inherit.

For more information about creating Simulink signals, see Simulink.Signal.

3 Add output or local data to a chart.
4 Enter a name for your data that matches the name of the Simulink.Signal object.
5 In the data properties, select the Data must resolve to signal object check box.

After you select this check box, the dialog box removes or grays out the properties
that your data inherits from the signal. For a list of properties that your data can
inherit during signal resolution, see Inherited Properties on page 8-59.

A Simple Example
The following model shows how a chart resolves local and output data to
Simulink.Signal objects.

8-60
 Resolve Data Properties from Simulink Signal Objects

In the base workspace, there are three Simulink.Signal objects with these properties:

Name Data Type Dimensions Storage Class

y1 double 1 SimulinkGlobal
y2 uint32 [2 2] Auto
local single 1 ExportedGlobal

The chart contains three data objects two outputs and a local variable that will
resolve to a signal with the same name, as follows:

When you build the model, each data object inherits the properties of the identically
named signal:

8-61
8 Define Data

The generated code declares the data based on the storage class that the data inherits
from the associated Simulink signal. For example, the header file below declares local
to be an exported global variable:
/*
* Exported States
*
* Note: Exported states are block states with an exported
* global storage class designation.
*
*/
extern real32_T local; /* '<Root>/Chart' */

8-62
 Best Practices for Using Data in Charts

Best Practices for Using Data in Charts

In this section...
Avoid inheriting output data properties from Simulink blocks on page 8-63
Restrict use of machine-parented data on page 8-63

Avoid inheriting output data properties from Simulink blocks

Stateflow output data should not inherit properties from output signals, because the
values back propagate from Simulink blocks and can be unpredictable.

Restrict use of machine-parented data

Avoid using machine-parented data. The presence of machine-parented data in a model
prevents reuse of generated code and other code optimizations. This type of data is also
incompatible with many Simulink and Stateflow features.

For example, the following features do not support machine-parented data:

Enumerated data
Simulink functions
Chart SimState
Implicit change events
Detection of unused data
Model referencing (see Limitations on All Model Referencing (Simulink))
Analysis by Simulink Design Verifier software
Code generation by Simulink PLC Coder software
Parameters binding to a Simulink.Parameter object in the base workspace

To make Stateflow data accessible to other charts and blocks in a model, use data store
memory. For details, see Access Data Store Memory from a Chart on page 8-29.

More About
Simulink Functions in Stateflow on page 27-2
What Is Enumerated Data? on page 18-2

8-63
8 Define Data

What Is a SimState? on page 15-2

Keywords for Implicit Events on page 9-33
Detect Unused Data in the Symbols Window on page 8-4

8-64
 Transfer Data Across Models

Transfer Data Across Models

In this section...
Copy Data Objects on page 8-65
Move Data Objects on page 8-65

Copy Data Objects

When you copy a chart from one Simulink model to another, all data objects in the chart
hierarchy are copied except those that the Stateflow machine parents. However, you can
use the Model Explorer to transfer individual data objects from machine to machine.

To copy a data object, follow these steps:

1 In the Contents pane of the Model Explorer, rightclick the data object you want to
copy and select Copy from the context menu.
2 In the Model Hierarchy pane, right-click the destination Stateflow machine and
select Paste from the context menu.

Move Data Objects

To move a data object, click the object in the Contents pane of the Model Explorer and
drag it to the destination Stateflow machine in the Model Hierarchy pane.

8-65
 9

Define Events

How Events Work in Stateflow Charts on page 9-2

Define Events on page 9-5
Set Properties for an Event on page 9-7
Activate a Stateflow Chart Using Input Events on page 9-9
Control States When Function-Call Inputs Reenable Charts on page 9-13
Activate a Simulink Block Using Output Events on page 9-20
Control Chart Execution Using Implicit Events on page 9-33
Count Events on page 9-38
Best Practices for Using Events in Stateflow Charts on page 9-40
9 Define Events

How Events Work in Stateflow Charts

In this section...
What Is an Event? on page 9-2
When to Use Events on page 9-2
Types of Events on page 9-3
Where You Can Use Events on page 9-3
Diagnostic for Detecting Unused Events on page 9-3

What Is an Event?
An event is a Stateflow object that can trigger actions in one of these objects:

A Simulink triggered subsystem

A Simulink function-call subsystem
A Stateflow chart

When to Use Events

Use events when you want to:

Activate a Simulink triggered subsystem (see Activate a Simulink Block Using Edge
Triggers on page 9-20)
Activate a Simulink function-call subsystem (see Activate a Simulink Block Using
Function Calls on page 9-28)
Trigger actions in parallel states of a Stateflow chart (see Broadcast Events to
Synchronize States on page 11-52)

Although Stateflow software does not limit the number of events you can use in a
chart, the underlying C compiler enforces a theoretical limit of (2^31)-1 events for the
generated code.

When should I use conditions instead of events?

Use conditions on transitions when you want to:

Represent conditional statements, for example, x < 1 or x == 0

9-2
 How Events Work in Stateflow Charts

Represent a change of input value from a Simulink block

For more information about using conditions on transitions, see Transition Action
Types on page 11-8.

Types of Events
An explicit event is an event that you define and can have one of the following scopes.

Scope Description
Local Event that can occur anywhere in a Stateflow machine but is
visible only in the parent object (and descendants of the parent).
See Directed Event Broadcasting on page 11-52.
Input from Simulink Event that occurs in a Simulink block but is broadcast to a
Stateflow chart. See Activate a Stateflow Chart Using Input
Events on page 9-9.
Output to Simulink Event that occurs in a Stateflow chart but is broadcast to a
Simulink block. See Activate a Simulink Block Using Output
Events on page 9-20.

An implicit event is a built-in event that broadcasts automatically during chart execution
(see Control Chart Execution Using Implicit Events on page 9-33).

Where You Can Use Events

You can define explicit events at these levels of the Stateflow hierarchy.

An event you define in a... Is visible to...

Chart The chart and all states and substates
Subchart The subchart and all states and substates
State The state and all substates

Diagnostic for Detecting Unused Events

If you have unused events in your chart, a warning message appears during simulation
with a list of events you can remove. By removing objects that have no effect on

9-3
9 Define Events

simulation, you can reduce the size of your model. This diagnostic checks for usage of
Stateflow events, except for the following types:

Function-call input events

Edge-triggered input events

After you select an event for removal, a dialog box confirms your choice. In this dialog
box, you can specify that other deletions occur without confirmation. If you prevent the
confirmation dialog box from appearing, you can reenable it at any time by typing at the
command prompt:
sfpref('showDeleteUnusedConfGui', 1)

You can control the level of diagnostic action for unused events in the Diagnostics
> Stateflow pane of the Model Configuration Parameters dialog box. For more
information, see the documentation for the Unused data, events, messages, and
functions (Simulink) diagnostic.

9-4
 Define Events

Define Events
In this section...
Add Events with the Stateflow Editor on page 9-5
Add Events with the Model Explorer on page 9-5

Add Events with the Stateflow Editor

From the Stateflow editor, you can add events via the Symbols window or through
menus.

To open the Symbols window, select View > Symbols. To add events in the Symbols
window:

1
Click the Create Event icon .
2 In the row for the new event, under TYPE, click the icon and choose:

Input Event
Local Event
Output Event
3 Edit the name of the event.
4 For input and output event, click the PORT field and choose a port number.

To add events through menus, select one of these scopes.

Scope Menu Option

Input Chart > Add Inputs & Outputs > Event Input From Simulink
Output Chart > Add Inputs & Outputs > Event Output To Simulink
Local Chart > Add Other Elements > Local Event

Specify properties for the new event as described in Set Properties for an Event on page
9-7.

Add Events with the Model Explorer

1 In the Stateflow Editor, select View > Model Explorer.

9-5
9 Define Events

2 In the Model Explorer, on the Model Hierarchy pane, select the object in the
Stateflow hierarchy where you want the new event to be visible.

The object you select becomes the parent of the event.

3 In the Model Explorer, select Add > Event.

The Model Explorer adds a default definition for the new event in the hierarchy and
displays an entry row for the new event in the Contents pane.
4 Change the properties of the event that you add in one of these ways:

Right-click the event row and select Properties to open the Event properties
dialog box.
To set specific properties such as Name, Scope, and Port, click individual cells
in the entry row.

More About
Set Properties for an Event on page 9-7
How Events Work in Stateflow Charts on page 9-2

9-6
 Set Properties for an Event

Set Properties for an Event

In this section...
Access Event Properties on page 9-7
Property Fields on page 9-7

Access Event Properties

You can specify event properties in either the Property Inspector or the Event properties
dialog box in the Model Explorer.

Property Inspector

1 Open the Symbols window by selecting View > Symbols.

2 In the Symbols window, right-click the event and select Inspect.
3 In the Property Inspector window, edit the event properties.
Model Explorer

1 Double-click the event in the Contents pane.

2 Edit the event properties in the Model Explorer Event properties dialog box.

Property Fields
Name

Name of the event. Actions reference events by their names. Names must begin with an
alphabetic character, cannot include spaces, and cannot be shared by sibling events.

Scope

Scope of the event. The scope specifies where the event occurs relative to the parent
object. For information about types of scope, see Types of Events on page 9-3.

Port

Property that applies to input and output events.

For input events, port is the index of the input signal that triggers the event.

9-7
9 Define Events

For output events, port is the index of the signal that outputs this event.

You assign input and output events to ports in the order in which you add the events. For
example, you assign the first input event to input port 1 and the third output event to
output port 3.

You can change port assignments in the Model Explorer or the Event properties dialog
box. When you change the number of one port, the numbers of other ports adjust
automatically to preserve the relative order. See Association of Input Events with
Control Signals on page 9-11 and Association of Output Events with Output Ports
on page 9-31.

Trigger

Type of signal that triggers an input or output event. See Activate a Stateflow Chart
Using Input Events on page 9-9 or Activate a Simulink Block Using Output
Events on page 9-20.

Debugger Breakpoints

Option for setting debugger breakpoints at the start or end of an event broadcast.
Available breakpoints depend on the scope of the event.

Scope of Event Available Breakpoints

Start of Broadcast End of Broadcast
Local Yes Yes
Input Yes No
Output No No

Description

Description of this event. You can enter brief descriptions of events in the hierarchy.

Document Link

Link to online documentation for events in a Stateflow chart. To document a particular

event, set the Document Link property to a web URL address or MATLAB expression
that displays documentation in a suitable online format (for example, an HTML file or
text in the MATLAB Command Window). When you click the blue Document Link text,
the chart evaluates the expression.

9-8
 Activate a Stateflow Chart Using Input Events

Activate a Stateflow Chart Using Input Events

In this section...
What Is an Input Event? on page 9-9
Activate a Stateflow Chart Using Edge Triggers on page 9-9
Activate a Stateflow Chart Using Function Calls on page 9-10
Association of Input Events with Control Signals on page 9-11

What Is an Input Event?

An input event occurs outside a chart but is visible only in that chart. This type of event
allows other Simulink blocks, including other Stateflow charts, to notify a specific chart
of events that occur outside it.

You can activate a Stateflow chart via a change in control signal (an edge-triggered input
event) or a function call from a Simulink block (a function-call input event). The sections
that follow describe when and how to use each type of input event.

Note: You cannot mix edge-triggered and function-call input events in a Stateflow chart.
If you try to mix these input events, an error message appears during simulation.

Activate a Stateflow Chart Using Edge Triggers

An edge-triggered input event causes a Stateflow chart to execute during the current
time step of simulation. This type of input event works only when a change in control
signal acts as a trigger.

When to Use an Edge-Triggered Input Event

Use an edge-triggered input event to activate a chart when your model requires chart
execution at regular (or periodic) intervals.

How to Define an Edge-Triggered Input Event

To define an edge-triggered input event:

1 Add an event to the Stateflow chart, as described in Define Events on page 9-5.

9-9
9 Define Events

Note: You must add an input event to the chart and not to one of its objects.
2 Set the Scope property for the event to Input from Simulink.

A single trigger port appears at the top of the Stateflow block in the Simulink model.
3 Set the Trigger property to one of these edge triggers.

Edge Trigger Type Description

Rising Rising edge trigger, where the control signal changes from
either zero or a negative value to a positive value.
Falling Falling edge trigger, where the control signal changes from
a positive value to either zero or a negative value.
Either Either rising or falling edge trigger.

In all cases, the signal must cross 0 to be a valid edge trigger. For example, a signal
that changes from -1 to 1 is a valid rising edge, but a signal that changes from 1to2
is not valid.

Example of Using an Edge-Triggered Input Event

The model sf_loop_scheduler shows how to use an edge-triggered input event to

activate a Stateflow chart at regular intervals. For information on running this model
and how it works, see Schedule One Subsystem in a Single Step on page 24-14.

Activate a Stateflow Chart Using Function Calls

A function-call input event causes a Stateflow chart to execute during the current time
step of simulation.

Note: When you use this type of input event, you must also define a function-call output
event for the block that calls the Stateflow chart.

When to Use a Function-Call Input Event

Use a function-call input event to activate a chart when your model requires access to
output data from the chart in the same time step as the function call.

9-10
 Activate a Stateflow Chart Using Input Events

How to Define a Function-Call Input Event

To define a function-call input event:

1 Add an event to the Stateflow chart, as described in Define Events on page 9-5.

Note: You must add an input event to the chart and not to one of its objects.
2 Set the Scope property for the event to Input from Simulink.

A single trigger port appears at the top of the Stateflow block in the Simulink model.
3 Set the Trigger property to Function call.

Example of Using a Function-Call Input Event

The model sf_loop_scheduler shows how to use a function-call input event to

activate a Stateflow chart. For information on running this model and how it works, see
Schedule One Subsystem in a Single Step on page 24-14.

Association of Input Events with Control Signals

When you define one or more input events for a chart, a single trigger port to the chart
block appears. External Simulink blocks can trigger the input events via a signal or
vector of signals connected to the trigger port. The Port property of an input event
associates the event with a specific element of a control signal vector that connects to the
trigger port (see Port on page 9-7).

The number of the port that you assign to the input event acts as an index into the
control signal vector. For example, the first element of the signal vector triggers the
input event assigned to input port 1, the fourth element triggers the input event assigned
to input port 4, and so on. You assign port numbers in the order in which you add the
events. However, you can change these assignments by setting the Port property of an
event to the index of the signal that you use to trigger the event.

Data Types Allowed for Input Events

For multiple input events to a trigger port, the data types of all signals must be identical.
If you use signals of different data types as input events, an error message appears when
you try to simulate your model.

For example, you can mux two input signals of type double to use as input events to a
chart.

9-11
9 Define Events

However, you cannot mux two input signals of different data types, such as boolean and
double.

Behavior of Edge-Triggered Input Events

At any given time step, input events are checked in ascending order based on their port
numbers. The chart awakens once per valid event. For edge-triggered input events,
multiple edges can occur in the same time step, which wake the chart more than once in
that time step. In this situation, events occur (and wake the chart) in an ascending order
based on their port numbers.

Behavior of Function-Call Input Events

For function-call input events, only one trigger event exists. The caller of the event
explicitly calls and executes the chart. Only one function call can be valid in a single time
step.

9-12
 Control States When Function-Call Inputs Reenable Charts

Control States When Function-Call Inputs Reenable Charts

In this section...
Set Behavior for a Reenabled Chart on page 9-13
Behavior When the Parent Is the Model Root on page 9-13
Behavior When the Chart Is Inside a Model Block on page 9-17

Set Behavior for a Reenabled Chart

If you define a function-call input event for a chart, you can control the behavior of states
when this event reenables the chart:

1 Open the Chart properties dialog box.

2 For States When Enabling, select one of these options:

Held Maintain most recent values of the states.

Reset Revert to the initial values of the states.
Inherit Inherit this setting from the parent subsystem.

If... The inherited setting is...

The parent of the chart is the model Held
root
The chart is inside a Model block Reset

For more information, see Model

Reference (Simulink).

For new charts, the default setting is Held.

Behavior When the Parent Is the Model Root

When the parent of your chart is the model root, the following types of behavior can occur
when a function-call input event reenables the chart.

9-13
9 Define Events

The chart... When you set the States When Enabling

property to...
Maintains the most recent values of the Inherit or Held
states
Reverts to the initial values of the states Reset

What Happens When the Setting Is Inherit or Held

In the following model, the Caller chart uses the event E to wake up and execute the
Callee chart.

The Caller chart contains two states, A and B.

When you bind E to A:

Entering A enables the Callee chart.

Exiting A disables the Callee chart.
Reentering A reenables the Callee chart.

Each time the Callee chart executes, the output data y increments by one.

9-14
 Control States When Function-Call Inputs Reenable Charts

In the Chart properties dialog box for Callee, States When Enabling is Inherit.
Because the parent of this chart is the model root, the chart maintains the most recent
values of all states when reenabled.

During simulation, Callee maintains the most recent value of its state when the
function-call input event reenables the chart at t = 20 and 40.

The key behaviors are:

Time Interval Caller Chart Callee Chart

0 10 State A is active and enables State A executes by
Callee. incrementing y.

9-15
9 Define Events

Time Interval Caller Chart Callee Chart

10 20 State B is active and State A does not execute.
disables Callee.
20 30 State A is active and State A executes by
reenables Callee. incrementing y.
30 40 State B is active and State A does not execute.
disables Callee.
40 50 State A is active and State A executes by
reenables Callee. incrementing y.

If States When Enabling is Held, the output is the same.

What Happens When the Setting Is Reset

Suppose that the States When Enabling property is Reset for Callee. During
simulation, Callee reverts to the initial value of its state when the function-call input
event reenables the chart at t = 20 and 40.

9-16
 Control States When Function-Call Inputs Reenable Charts

Behavior When the Chart Is Inside a Model Block

When your chart is inside a Model block, the following types of behavior can occur when a
function-call input event reenables the chart.

The chart... When you set the States When Enabling

property to...
Maintains the most recent values of the Held
states
Reverts to the initial values of the states Inherit or Reset

What Happens When the Setting Is Inherit or Reset

The following model contains a Model block and a scope. (For more information about
using Model blocks, see For more information, see Model Reference (Simulink)..)

The Model block contains the Caller and Callee charts from Behavior When the
Parent Is the Model Root on page 9-13.

In the Chart properties dialog box for Callee, States When Enabling is Inherit.
Because this chart is inside a Model block, the chart reverts to the initial values of all
states when reenabled.

9-17
9 Define Events

During simulation, Callee reverts to the initial value of its state when the function-call
input event reenables the chart at t = 20 and 40.

The key behaviors are:

Time Interval Caller Chart Callee Chart

0 10 State A is active and enables State A executes by
Callee. incrementing y.
10 20 State B is active and State A does not execute.
disables Callee.
20 30 State A is active and State A executes by
reenables Callee. incrementing y.
30 40 State B is active and State A does not execute.
disables Callee.
40 50 State A is active and State A executes by
reenables Callee. incrementing y.

9-18
 Control States When Function-Call Inputs Reenable Charts

If States When Enabling is Reset, the output is the same.

What Happens When the Setting Is Held

Suppose that the States When Enabling property is Held for Callee. During
simulation, Callee maintains the most recent value of its state when the function-call
input event reenables the chart at t = 20 and 40.

9-19
9 Define Events

Activate a Simulink Block Using Output Events

In this section...
What Is an Output Event? on page 9-20
Activate a Simulink Block Using Edge Triggers on page 9-20
Activate a Simulink Block Using Function Calls on page 9-28
Association of Output Events with Output Ports on page 9-31
Access Simulink Subsystems Triggered By Output Events on page 9-32

What Is an Output Event?

An output event is an event that occurs in a Stateflow chart but is visible in Simulink
blocks outside the chart. This type of event allows a chart to notify other blocks in a
model about events that occur in the chart.

You use output events to activate other blocks in the same model. You can define
multiple output events in a chart, where each output event maps to an output port (see
Port on page 9-7).

Note: Output events must be scalar.

Activate a Simulink Block Using Edge Triggers

An edge-triggered output event activates a Simulink block to execute during the current
time step of simulation. This type of output event works only when a change in control
signal acts as a trigger.

When to Use an Edge-Triggered Output Event

Use an edge-triggered output event to activate a Simulink subsystem when your model
requires subsystem execution at regular (or periodic) intervals.

How to Define an Edge-Triggered Output Event

To define an edge-triggered output event:

1 Add an event to the Stateflow chart, as described in Define Events on page 9-5.

9-20
 Activate a Simulink Block Using Output Events

2 Set the Scope property for the event to Output to Simulink.

For each output event you define, an output port appears on the Stateflow block.
3 Set the Trigger property of the output event to Either Edge.

Note: Unlike edge-triggered input events, you cannot specify a Rising or Falling
edge trigger.

Example of Using an Edge-Triggered Output Event

The following model shows how to use an edge-triggered output event to activate
triggered subsystems at regular intervals.

The chart contains the edge-triggered output event e1 and the local data a, which
switches between 0 and 1 during simulation.

9-21
9 Define Events

In a chart, the Trigger property of an edge-triggered output event is always Either

Edge. However, Simulink triggered subsystems can have a Rising, Falling, or
Either Edge trigger. This model shows the difference between triggering a rising edge
subsystem and an either edge subsystem.

The output event e1 triggers On... When the data a switches...

the...
Either edge subsystem Every event broadcast From 0 to 1, or from 1 to 0
Rising edge subsystem Every other event broadcast From 0 to 1

When you simulate the model, the scope shows these results.

Queuing Behavior for Broadcasting an Edge-Triggered Output Event Multiple Times

If a chart tries to broadcast the same edge-triggered output event multiple times in a
single time step, the chart dispatches only one of these broadcasts in the present time
step. However, the chart queues up any pending broadcasts for dispatch that is, one at

9-22
 Activate a Simulink Block Using Output Events

a time in successive time steps. Each time the chart wakes up in successive time steps,
if any pending broadcasts exist for the output event, the chart signals the edge-triggered
subsystem for execution. Based on the block sorted order of the Simulink model, the
edge-triggered subsystem executes. (For details, see Control and Display the Sorted
Order (Simulink).)

Note: For information on what happens for function-call output events, see Interleaving
Behavior for Broadcasting a Function-Call Output Event Multiple Times on page
9-29.

Queue Edge-Triggered Output Event Broadcasts

In this model, the chart Caller uses the edge-triggered output event output_cmd to
activate the chart Callee.

The chart Caller tries to broadcast the same edge-triggered output event four times in a
single time step, as shown.

9-23
9 Define Events

Each time the chart Callee is activated, the output data y increments by one.

When you simulate the model, you see this output in the scope.

At t = 1, the chart Caller dispatches only one of the four output events. Therefore, the
chart Callee executes once during that time step. However, the chart Caller queues up
the other three event broadcasts for future dispatch that is, one at a time for t = 2,
3, and 4. Each time Caller wakes up in successive time steps, it activates Callee for
execution. Therefore, the action y++ occurs once per time step at t = 1, 2, 3, and 4. During
simulation, Callee executes based on the block sorted order of the Simulink model.

Approximate a Function Call Using Queuing Behavior

When you cannot use a function-call output event, such as for HDL code generation, you
can approximate a function call by using:

9-24
 Activate a Simulink Block Using Output Events

An edge-triggered output event

An enabled subsystem
Two consecutive event broadcasts

Note: While you can approximate a function call, a subtle difference in execution
behavior exists. Execution of a function-call subsystem occurs during execution of the
chart action that provides the trigger. However, execution of an enabled subsystem
occurs after execution of that chart action is complete.

In the following model, the chart Caller uses the edge-triggered output event
output_cmd to activate the enabled subsystem. The scope shows the value of the output
event during simulation.

The chart Caller broadcasts the edge-triggered output event using a send action.

9-25
9 Define Events

When you simulate the model, you see the following output in the scope. The simulation
runs for 40 seconds.

When simulation starts, the value of output_cmd is 0. At t = 20, the chart dispatches
output_cmd. Because this value changes to 1, the enabled subsystem becomes active
and executes during that time step. Because no other event broadcasts occur, the enabled

9-26
 Activate a Simulink Block Using Output Events

subsystem continues to execute at every time step until simulation ends. Therefore, the
Display block shows a final value of 40.

To approximate a function call, add a second event broadcast in the same action.

When you simulate the model, you see the following output in the scope. The simulation
runs for 40 seconds.

9-27
9 Define Events

When simulation starts, the value of output_cmd is 0. At t = 20, the chart dispatches
output_cmd. Because this value changes to 1, the enabled subsystem becomes active
and executes during that time step. The chart also queues up the second event for
dispatch at the next time step. At t = 21, the chart dispatches the second output event,
which changes the value of output_cmd to 0. Therefore, the enabled subsystem stops
executing and the Display block shows a final value of 20.

The queuing behavior of consecutive edge-triggered output events enables you to

approximate a function call with an enabled subsystem.

Activate a Simulink Block Using Function Calls

A function-call output event activates a Simulink block to execute during the current
time step of simulation. This type of output event works only on blocks that you can
trigger with a function call.

When to Use a Function-Call Output Event

Use a function-call output event to activate a Simulink block when your model requires
access to output data from the block in the same time step as the function call.

How to Define a Function-Call Output Event

To define a function-call output event:

1 Add an event to the chart, as described in Define Events on page 9-5.

2 Set the Scope property for the event to Output to Simulink.

For each output event you define, an output port appears on the Stateflow block.
3 Set the Scope property of the output event to Function call.

Example of Using a Function-Call Output Event

The model sf_loop_scheduler shows how to use a function-call output event to activate a
Simulink block. For information on running this model and how it works, see Schedule
One Subsystem in a Single Step on page 24-14.

9-28
 Activate a Simulink Block Using Output Events

The function-call output event... Of the chart... Activates...

call Edge to Function The chart Looping Scheduler
A1 Looping Scheduler The function-call subsystem A1

Interleaving Behavior for Broadcasting a Function-Call Output Event Multiple Times

If a chart tries to broadcast the same function-call output event multiple times in a
single time step, the chart dispatches all the broadcasts in that time step. Execution of
function-call subsystems is interleaved with the execution of the function-call initiator so
that output from the function-call subsystem is available right away in the function-call
initiator. (For details, see Function-Call Subsystems (Simulink).)

9-29
9 Define Events

Note: For information on what happens for edge-triggered output events, see Queuing
Behavior for Broadcasting an Edge-Triggered Output Event Multiple Times on page
9-22.

Interleave Function-Call Output Event Broadcasts

In this model, the chart Caller uses the function-call output event output_cmd to
activate the chart Callee.

The chart Caller tries to broadcast the same function-call output event four times in a
single time step, as shown.

Each time the chart Callee is activated, the output data y increments by one.

When you simulate the model, you see this output in the scope.

9-30
 Activate a Simulink Block Using Output Events

At t = 1, the chart Caller dispatches all four output events. Therefore, the chart Callee
executes four times during that time step. Therefore, the action y++ also occurs four
times in that time step. During simulation, execution of Callee is interleaved with
execution of Caller so that output from Callee is available right away.

Association of Output Events with Output Ports

The Port property associates an output event with an output port on the chart block that
owns the event. This property specifies the position of the output port relative to others.

All output ports appear sequentially from top to bottom. Output data ports appear
sequentially above output event ports on the right side of a chart block. As you add
output events, their default Port properties appear sequentially at the end of the current
port list.

You can change the default port assignment of an event by resetting its Port property.
When you change the Port property for an output event, the ports for the remaining
output events automatically renumber, preserving the original order. For example,

9-31
9 Define Events

assume you have three output events, OE1, OE2, and OE3, which associate with the
output ports 4, 5, and 6, respectively. If you change the Port property for OE2 to 6, the
ports for OE1 and OE3 renumber to 4 and 5, respectively.

Access Simulink Subsystems Triggered By Output Events

To access the Simulink subsystem associated with a Stateflow output event:

1 In your chart, right-click the state or transition that contains the event of interest
and select Explore.
2 Select the desired event.

The Simulink subsystem associated with the event appears.

9-32
 Control Chart Execution Using Implicit Events

Control Chart Execution Using Implicit Events

In this section...
What Are Implicit Events? on page 9-33
Keywords for Implicit Events on page 9-33
Transition Between States Using Implicit Events on page 9-34
Execution Order of Transitions with Implicit Events on page 9-35

What Are Implicit Events?

Implicit events are built-in events that occur when a chart executes:

Chart waking up
Entry into a state
Exit from a state
Value assigned to an internal data object

These events are implicit because you do not define or trigger them explicitly. Implicit
events are children of the chart in which they occur and are visible only in the parent
chart.

Keywords for Implicit Events

To reference implicit events, action statements use this syntax:

event(object)

where event is the name of the implicit event and object is the state or data in which
the event occurs.

Each keyword below generates implicit events in the action language notation for states
and transitions.

Implicit Event Meaning

change(data_name) or Specifies and implicitly generates a local event when
chg(data_name) Stateflow software writes a value to the variable data_name.

9-33
9 Define Events

Implicit Event Meaning

The variable data_name cannot be machine-parented data.
This implicit event works only with data that is at the chart
level or lower in the hierarchy. For machine-parented data,
use change detection operators to determine when the data
value changes. For more information, see Detect Changes in
Data Values on page 11-74.
enter(state_name) or Specifies and implicitly generates a local event when the
en(state_name) specified state_name is entered.
exit(state_name) or Specifies and implicitly generates a local event when the
ex(state_name) specified state_name is exited.
tick Specifies and implicitly generates a local event when the
chart of the action being evaluated awakens.
wakeup Same as the tick keyword.

If more than one object has the same name, use the dot operator to qualify the name of
the object with the name of its parent. These examples are valid references to implicit
events:

enter(switch_on)
en(switch_on)
change(engine.rpm)

Note: The tick (or wakeup) event refers to the chart containing the action being
evaluated. The event cannot refer to a different chart by argument.

Transition Between States Using Implicit Events

This example illustrates use of implicit tick events.

9-34
 Control Chart Execution Using Implicit Events

Fan and Heater are parallel (AND) superstates. The first time that an event awakens
the Stateflow chart, the states Fan.Off and Heater.Off become active.

Assume that you are running a discrete-time simulation. Each time that the chart
awakens, a tick event broadcast occurs. After four broadcasts, the transition from
Fan.Off to Fan.On occurs. Similarly, after three broadcasts, the transition from
Heater.Off to Heater.On occurs.

For information about the after operator, see Control Chart Execution Using Temporal
Logic on page 11-56.

Execution Order of Transitions with Implicit Events

Suppose that:

Your chart contains parallel states.

9-35
9 Define Events

In multiple parallel states, the same implicit event is used to guard a transition from
one substate to another.

When multiple transitions are valid in the same time step, the transitions execute based
on the order in which they were created in the chart. This order does not necessarily
match the activation order of the parallel states that contain the transitions. For
example, consider the following chart:

When the transition from IV.HERE to IV.THERE occurs, the condition ex(IV.HERE)
is valid for the transitions from A to B for the parallel states I, II, and III. The three
transitions from A to B execute in the order in which they were created: in state I, then
II, and finally III. This order does not match the activation order of those states.

To ensure that valid transitions execute in the same order that the parallel states become
active, use the in operator instead of implicit enter or exit events:

9-36
 Control Chart Execution Using Implicit Events

With this modification, the transitions from A to B occur in the same order as activation
of the parallel states. For more information about the in operator, see Check State
Activity on page 11-86.

9-37
9 Define Events

Count Events

In this section...
When to Count Events on page 9-38
How to Count Events on page 9-38
Collect and Store Input Data in a Vector on page 9-38

When to Count Events

Count events when you want to keep track of explicit or implicit events in your chart.

How to Count Events

You can count occurrences of explicit and implicit events using the temporalCount
operator. For information about the syntax of this operator, see Operators for Event-
Based Temporal Logic on page 11-57.

Collect and Store Input Data in a Vector

The following model collects and stores input data in a vector during chart simulation:

The chart contains two states and one MATLAB function:

9-38
 Count Events

Stage 1: Observation of Input Data

The chart awakens and remains in the Observe state, until the input data u is positive.
Then, the transition to the state Collect_Data occurs.

Stage 2: Storage of Input Data

After the state Collect_Data becomes active, the value of the input data u is assigned
to the first element of the vector y. While this state is active, each subsequent value of u
is assigned to successive elements of y using the temporalCount operator.

Stage 3: Display of Data Stored in the Vector

After 10 ticks, the data collection process ends, and the transition to the state Observe
occurs. Just before the state Collect_Data becomes inactive, a function call to status
displays the vector data at the MATLAB prompt.

For more information about ticks in a Stateflow chart, see Control Chart Execution
Using Implicit Events on page 9-33.

9-39
9 Define Events

Best Practices for Using Events in Stateflow Charts

Use the send command to broadcast explicit events in actions

In state actions (entry, during, exit, and on event_name) and condition actions,
use the send command to broadcast explicit events. Using this command enhances
readability of a chart and ensures that explicit events are not mistaken for data. See
Directed Event Broadcasting on page 11-52 for details.

Do not mix edge-triggered input events and function-call input events in a chart

If you mix input events that use edge triggers and function calls, the chart detects this
violation during parsing, or simulation. An error message appears and chart execution
stops.

Avoid using the enter implicit event to check state activity

Use the in operator instead of the enter implicit event to check state activity. See
Check State Activity on page 11-86 for details.

9-40
 10

Messages

How Messages Work in Stateflow Charts on page 10-2

View Differences Between Stateflow Messages, Events, and Data on page 10-3
Stateflow Message Syntax in Charts on page 10-11
Queuing Behavior of Stateflow Messages on page 10-21
Lifetime of a Stateflow Message on page 10-23
Limitations for Messages on page 10-24
Define Messages in a Stateflow Chart on page 10-25
Set Message Properties on page 10-27
Work with Message Viewer on page 10-30
10 Messages

How Messages Work in Stateflow Charts

In Stateflow, you can use messages to communicate within and between Stateflow charts.
From a chart, you send and forward messages that can hold data. After you send a
message, an input or local queue for a chart receives it. The message is held in the queue
until the chart evaluates the message.

The first time a chart transition or action evaluates a message, the chart determines if
the message is present in the queue. If the message is present in the queue, then the
chart removes it from the queue. This message is valid until it is forwarded, or until the
end of the time step. While the message is valid, other transitions or actions can access
the message data. While the message is valid, another transition or action that evaluates
the message will not remove another message from the queue. The chart destroys all
valid messages at the end of the current time step. You access message data by reading it
or writing to it.

When a chart receives a message, it does not trigger the chart to wake up. Events trigger
a chart to wake up. If the receiver chart cannot immediately respond to the event, then
the event is lost. Messages are queued at the message input port until the chart wakes
up. When the chart wakes up, it can respond to the messages in the input queue.

Message lines connect input and output ports in Simulink. You can create local
messages. A local message has its own queue with the same queue properties as the
message input port.

To visualize the interchange of messages during simulation, view the Message Viewer
block.

Related Examples
View Differences Between Stateflow Messages, Events, and Data on page
10-3
Work with Message Viewer on page 10-30

More About
Lifetime of a Stateflow Message on page 10-23
Stateflow Message Syntax in Charts on page 10-11

10-2
 View Differences Between Stateflow Messages, Events, and Data

View Differences Between Stateflow Messages, Events, and Data

This example shows the difference in behavior of a Stateflow message compared to events
or data.

Sender Charts

This model has three sender charts, DataSender, EventSender, and MessageSender.
Each sender chart has one state, A. In the entry action of state A, each chart assigns an
output data value to 1, sends a function-call event, or sends a message.

10-3
10 Messages

Receiver Charts

For each of the sender charts, there is a corresponding receiving chart. Each receiver
chart has a state diagram with states A0, A1, A2, and A3. Each receiver chart has
a transition from A0 to A1 after 3 seconds. The data, event, or message from the
corresponding sender chart guards the transitions between A1, A2, and A3.

10-4
 View Differences Between Stateflow Messages, Events, and Data

Scope Output

Each receiver chart has active state output enabled, with the output port connected to
a scope. On the scope output, you see which states are active for each time step. This
output highlights the difference in behavior between output data, event, and message.

10-5
10 Messages

10-6
 View Differences Between Stateflow Messages, Events, and Data

Behavior of Data

In the entry action of chart DataSender, the output data M is assigned a value of 1. M
connects as input to the chart DataReceiver. M holds this assigned value throughout
the simulation. Because there is no input event, the chart DataReceiver executes once
every time step. In chart DataReceiver, initially state A0 is active. At t=3, the chart
takes the transition to A1. On the scope, you see the state change from A0 to A1. In the
next time step, t=4, the transition tests if M equals 1. This condition is true, so the chart
takes the transition to A2. At t=5, M still equals 1. The chart transitions from A2 to A3.

After data is assigned a value, it remains valid. Therefore, each time a transition
evaluates M, you see DataReceiver transition to a new state.

10-7
10 Messages

Behavior of Event

The chart EventSender uses the syntax send(M) to send an event as an entry action in
state A. This function-call event is an input event to wake up the chart EventReceiver.
The chart EventReceiver executes only when the input event M wakes the chart up.
When event M wakes up chart EventReceiver, state A0 is active. The chart checks for a
valid transition from state A0. The transition from A0 is based on absolute-time temporal
logic, and is not valid at t=0. A0 remains as the active state, and the chart goes back to
sleep. The chart EventReceiver does not wake up again, because chart EventSender
only sends event M once. On the scope, you see that EventReceiver never transitions
out of A0.

Because events do not remain valid across time steps, the chart has only one chance to
respond to the event. When EventSender sent the event, EventReceiver was not in
a state to respond to it. The ability for EventReceiver to transition in response to the
event is lost.

10-8
 View Differences Between Stateflow Messages, Events, and Data

Behavior of Message

The chart MessageSender uses the syntax send(M) to send one message through the
message output port. The message goes in the message input receiving queue for the
chart, MessageReceiver. The message waits until MessageReceiver evaluates it.
Because there is no input event, the chart MessageReceiver executes once every time
step. In MessageReceiver, initially, state A0 is active. The chart transitions to state
A1 at t=3. In the next time step, t=4, the transition determines if M is present. The
chart removes M from the receiver input queue. Because M is valid, the chart takes the
transition to A2. The chart destroys M at the end of the time step t=4. At t=5, another
message is not present in the queue, so the chart does not transition to A3. A2 remains
the active state.

10-9
10 Messages

Unlike events, messages are queued. The receiving chart can choose to respond to a
message anytime after it was sent. Unlike data, the message does not remain valid
across time steps. If the number of messages the chart receives overflows the input
queue, then a message overflow error occurs.

More About
How Messages Work in Stateflow Charts on page 10-2
Queuing Behavior of Stateflow Messages on page 10-21
Stateflow Message Syntax in Charts on page 10-11

10-10
 Stateflow Message Syntax in Charts

Stateflow Message Syntax in Charts

In this section...
Access the Data in a Message on page 10-11
Send a Message on page 10-11
Guard a Transition or Action with a Message on page 10-12
Receive a Message on page 10-14
Discard a Message on page 10-15
Forward a Message on page 10-16
Determine if a Message Is Valid on page 10-18
Check the Length of the Queue on page 10-19

Access the Data in a Message

Stateflow messages have a data field. You can read or write to the message data of a
valid message with dot notation syntax. For example, for message M, access the data with
this syntax:

M.data

Set the data type in the Message properties dialog box.

Do not access message data for messages that are still in the queue. See Lifetime of a
Stateflow Message on page 10-23.

Send a Message
To send a message, use this syntax:

send(message_name)

If the message scope is Output, then the chart sends the message through the output
port to the input message queue of the receiving chart. If the message is local, then the
message goes in the local message queue.

In this example, M is a message with scope Output. On entry to state A, the chart sends a
message from message output port M, with a data value of 3.

10-11
10 Messages

In a single time step, you can send multiple messages through an output port or to a local
queue. If you send a message without assigning a value to the message data, Stateflow
initializes the message data to 0.

Guard a Transition or Action with a Message

The first time the chart evaluates a transition that a message guards or a message on
action, the chart determines if the message is present in the message input or local
queue. If the message is present, the chart removes the message from the queue. This
message is valid until the chart forwards it, until it is discarded, or until the end of the

10-12
 Stateflow Message Syntax in Charts

time step. While the message is valid, another transition or action that evaluates the
message does not remove another message from the queue. While the message is valid,
other transitions or actions can access the message data.

In this example, the transition checks the message queue M. If there is a message present
in the queue, the chart removes it from the queue. If the data value of the valid message
is equal to 3, then the chart takes the transition from state A to state B. If there was no
message present, or if the data value is not equal to 3, then the chart does not take the
transition.

Note: The message is removed from the queue whether the transition is taken or not.

In this example, when the chart executes state A, the chart checks the message queue
M. If there is a message present, the chart removes it from the queue. If the message
data value is equal to 3, then the chart executes the if statement action. If there is no
message present, the chart does not execute the if statement.

10-13
10 Messages

Receive a Message
To receive a message, use this syntax:

receive(message_name)

This keyword is equivalent to on M or message guard M on transitions. If a valid message

M exists, receive(M) returns true. If a valid message does not exist, the chart removes
a message from its associated queue, and receive(M) returns true. If receive(M)
removes a message from the queue, the length of the queue drops by one.

In this example, when the chart executes state A, the chart checks the message queue
M. If there is a message present, the chart removes it from the queue. If the message
data value is equal to 3, then the chart executes the if statement action. If there is no
message present, the chart does not execute the if statement.

10-14
 Stateflow Message Syntax in Charts

Discard a Message
To discard a message, use this syntax:

discard(message_name)

To discard a message, it must be valid. After you discard a message, you can remove the
next message from the queue within the same time step.

In this example, when the chart executes state A, on entry the chart checks the message
queue M. If there is a message present, the chart removes it from the queue. The chart
then checks if a message was received. If receive(M) returns true, the chart then
checks if the message data value is equal to 3. If the message data value is equal to 3, the
message is discarded.

10-15
10 Messages

Forward a Message
Forward an Input Message

You can forward a message from an input message queue to an output port. A message
line connects the output port to a receiving chart input port in Simulink.

In this example, in state A, Stateflow determines if a message is present at input port

M_in. If a message is present, then the chart removes the message from the queue and
forwards it to the output port M_out. After the chart forwards the message, the message
is no longer valid in state A. If there is another reference to the message queue, the chart
determines whether there is another message available for use in the queue.

10-16
 Stateflow Message Syntax in Charts

After a chart forwards a message, if there is another reference to the same message
queue, then the chart looks for another message on the queue.

Forward a Local Message

You can forward messages to and from local message queues. In this example, if a
message is present at input port M_in, then in state A, Stateflow forwards the message to
the local message queue, M_local. After a 0.3 sec delay, on the transition from state
A to B, the chart determines if a message is present on M_local. The chart removes the
message from the M_local message queue and forwards it to the output port M_out.

10-17
10 Messages

Determine if a Message Is Valid

To determine if a message is valid, use this syntax:

isvalid(message_name)

A message is valid if the chart had removed it from the queue, but it has not been
forwarded or discarded. Use isvalid(M) to check if a message is valid in a Simulink
model that contains more than one Stateflow chart.

In this example, the chart first executes state A. When the chart executes state B, it first
checks to see if message M is valid using isvalid(M). If message M is valid, then the

10-18
 Stateflow Message Syntax in Charts

chart executes the if statement action. If message M is not valid, the chart does not
execute the if statement.

Check the Length of the Queue

To check the length of a message queue, use this syntax:

length(message_name)

Use length(M) to determine the number of messages in the queue associated with M.

In this example, the chart first executes state A. The queue associated with message
M has been set to a number larger than 75. Once the length of the message queue
associated with M becomes equal to 75, an action within the second if statement is taken.

10-19
10 Messages

Related Examples
Define Messages in a Stateflow Chart on page 10-25
Set Message Properties on page 10-27

10-20
 Queuing Behavior of Stateflow Messages

Queuing Behavior of Stateflow Messages

When you send a message, the message goes into the Input or Local message queue.
The queue type determines the order in which messages are removed from the queue. In
the Message properties dialog box, set the queue type for each input and local message
object to:

FIFO (First In, First Out) (default)

LIFO (Last In, First Out)
Priority

If Queue type is Priority, choose:

Ascending The order of the message removed is based on an ascending order of

the message data value.
Descending The order of the message removed is based on a descending order of
the message data value.

Messages of scope Input and Local have a queue capacity. If the number of incoming
messages exceeds the queue capacity, then a message overflow occurs. Set the diagnostic
action by setting the message queue property Queue overflow diagnostic.

Error (default)
Warning
None

Set the queue capacity high enough so that incoming messages do not overflow the
queue. To check the length of the queue, use length.

Note: The maximum queue length is 2^161.

To add messages to the Stateflow Breakpoints and Watch window, select Add to Watch
Window while viewing the message in the Property Inspector. When the simulation
pauses, you can view message queues and message data values. To visualize the
interchange of messages, use a Message Viewer block in your model.

Related Examples
Work with Message Viewer on page 10-30

10-21
10 Messages

Lifetime of a Stateflow Message on page 10-23

View Differences Between Stateflow Messages, Events, and Data on page 10-3
Watch Stateflow Data Values on page 29-35

10-22
 Lifetime of a Stateflow Message

Lifetime of a Stateflow Message

A Stateflow message has a finite lifetime. The lifetime begins when you send a message
with the syntax send(message_name). An input or local message queue receives the
message. The message remains in the queue until the first time that a transition or
action evaluates it, or it is evaluated with receive(M). When the message is evaluated
or received, it becomes valid. The message is valid until:

The chart forwards it to another queue.

The end of the current time step.
The message is discarded.

While a message is valid, other transitions and actions can guard conditions with the
message and access the message data. When you forward a message, the message
continues its lifetime in the receiving queue.

At the end of a time step, a chart destroys any remaining valid messages. You can
destroy a message during a time step by using discard. To check if a message is valid,
use isvalid.

If the receiving queue is full, a message overflow occurs. Set the diagnostic action by
setting the message queue property Queue overflow diagnostic.

To view the interchange of messages during simulation, add a Message Viewer block. In
this block, you see when messages for a model are:

Sent
Received
Forwarded
Dropped
Destroyed
Discarded

Related Examples
Work with Message Viewer on page 10-30
Stateflow Message Syntax in Charts on page 10-11

10-23
10 Messages

Limitations for Messages

You cannot use messages in:

Moore charts
Atomic subcharts
Breakpoint condition expressions
Model reference inputs and outputs

More About
Stateflow Message Syntax in Charts on page 10-11
How Messages Work in Stateflow Charts on page 10-2

10-24
 Define Messages in a Stateflow Chart

Define Messages in a Stateflow Chart

In this section...
Types of Messages in a Chart on page 10-25
Define Message Inputs and Outputs on page 10-25

Types of Messages in a Chart

From the Stateflow editor, you can define three scopes for a message.

Scope Description
Input from Simulink Message that is received from another Stateflow chart through
Simulink. Each input message has a receiving queue.
Output to Simulink Message that is sent from a Stateflow through an output port in
Simulink to another chart.
Local Message that is local to the Stateflow chart. A local message has
a receiving queue with the same properties as a message input.
When you send a local message, a transition or action in the
same chart can evaluate the local message. You cannot send a
local message outside the chart.

To learn about message properties, see .

Define Message Inputs and Outputs

From the Stateflow editor, you can add messages via the Symbols window or through
menus. To open the Symbols window, select View > Symbols. To add messages in the
Symbols window:

1
Click the Create Message icon .
2 In the row for the new message, under TYPE, click the icon and choose:

Input Message
Local Message
Output Message

10-25
10 Messages

3 Edit the name of the message.

4 For input and output messages, click the PORT field and choose a port number.

To add messages through menus, select one of these options:

Scope Menu Option

Input Chart > Add Inputs & Outputs > Message Input from
Simulink
Output Chart > Add Inputs & Outputs > Message Output to Simulink
Local Chart > Add Other Elements > Local Message

Connect message input and output ports in Simulink with a message line.

More About
Set Message Properties on page 10-27
How Messages Work in Stateflow Charts on page 10-2

10-26
 Set Message Properties

Set Message Properties

Set and modify the properties of a message in the Property Inspector, or a Message
properties dialog box.

You can set these properties on a message.

Message Input Port Properties Description

Name Name of the message object.
Scope You can set scope to one of these values:

LocalMessage is defined in the

current chart only.
Input Message is defined as an
input port on the chart. You can send a
message from another chart through this
input port.
OutputMessage is defined as an
output port on the chart. You can send
a message from this chart through this
output port.
Port Index of the port associated with an input or
output message queue.
Size Size of the message data.
Complexity Specifies if the message data accepts
complex values. You can choose one of these
settings:

OffDoes not accept complex values.

OnAccepts complex values.
InheritedInherits the complexity
setting from Simulink.
Type Type of message data.

Select a built-in type from the Type

drop-down list.

10-27
10 Messages

Message Input Port Properties Description

In the Messages properties dialog box,
use the Data Type Assistant to specify a
data Mode. Then specify the data type
based on that mode.

Note: Click the Show data type

assistant button to display

the Data Type Assistant.
Add to Watch Window Watch the message in the Stateflow
Breakpoints and Watch window. You can
view message queues and message data
values when simulation is paused.
Queue capacity For messages of scope Input and Local.
Set the length of the queue high enough so
that incoming messages do not overflow the
queue and to prevent message from being
dropped.
Queue overflow diagnostic Set the diagnostic action for a queue
overflow:

Error (default)
Warning
None
Queue type For messages of scope Input and Local.

Choose the type of queue. The order of

messages received is:

FIFO First in, first out.

LIFO Last in, first out.
Priority This queue type enables the
Priority order property parameter.

10-28
 Set Message Properties

Message Input Port Properties Description

Priority order If Queue type is Priority order, choose:

Ascending Order of message received

is based on an ascending order of the
message data value.
Descending Order of message
received is based on a descending order
of the message data value.

More About
Rules for Naming Stateflow Objects on page 2-4
Watch Stateflow Data Values on page 29-35
Size Stateflow Data on page 8-44
Type Stateflow Data on page 8-36

10-29
10 Messages

Work with Message Viewer

The Message Viewer window has:

A navigation toolbar, which contains:

The model hierarchy path

Toggle button to select an automatic or manual layout
Toggle button to chose to show or hide inactive lifelines
Buttons for saving and restoring information in the viewer, setting parameters on
the block, and accessing the Message Viewer documentation
A header pane, which contains the lifeline headers.
A message pane, which displays the messages.

To see the interchange of messages between Stateflow charts during simulation, add a
Message Viewer block to the model. You can visualize the movement of entities between
blocks when simulating SimEvents models. The Message Viewer block also displays
function calls and calls from MATLAB Function blocks. For more information on function
calls, see Function Calls in Message Viewer on page 10-39.

The Message Viewer block uses a Message Viewer window that acts like a sequence
diagram showing how blocks interact using messages.

The Message Viewer enables you to view event data related to Stateflow chart execution
and the exchange of messages between Stateflow charts. The Message Viewer shows
where messages are created and sent, forwarded, received, and destroyed at different
times during model execution. You can also view the movement of entities between
SimEvents blocks. All SimEvents blocks that can store entities appear as lifelines on the
Message Viewer. Entities moving between these blocks appear as lines with arrows. The
Message Viewer also enables you to view calls to Simulink Function blocks and Stateflow
MATLAB functions.

This topic uses the Stateflow example sf_msg_traffic_light to show you how to use
the Message Viewer.

You can add one or more Message Viewer blocks to the top level of a model or any
subsystem. If you place a Message Viewer block in a subsystem that does not have
messages, the Message Viewer informs you that no messages are available to display. A
viewer can be inactive if, for example, it is in a subsystem that has been commented out.
In such a case, the Message Viewer displays that it is inactive.

10-30
 Work with Message Viewer

Visualize Messages
Consider this subsystem, Traffic Light1:

10-31
10 Messages

Traffic Light1 contains two Stateflow charts.

Controller
Ped Button Sensor

The charts in this subsystems use messages to exchange data. As messages pass through
the system, you can view them in a Message Viewer.

Add a Message Viewer block from the Stateflow library to a subsystem or model whose
messages you want to see. When you open a Message Viewer block and simulate the
model:

1 Observe the contents of the Message Viewer.

10-32
 Work with Message Viewer

The header (top) pane of a Message Viewer shows the lifeline headers. In this
example, the lifelines are the two Traffic Light blocks and the GUI. Lifeline headers
show the name of the corresponding blocks in the model that generate or act on
messages. The top of the lifeline is a header, which corresponds to a block in the
model. Gray headers with straight edges correspond to subsystems. Yellow headers
with rounded edges correspond to Stateflow charts. In the header pane, the lifeline
hierarchy corresponds to the model hierarchy. When the model is paused or stopped,
you can expand and close lifelines.

In the message pane, a thick gray lifeline indicates that you can expand the lifeline
to see the children in the lifeline. Clicking a lifeline name opens the corresponding
block in the model. Messages between lifelines display in the message pane. Message
lines are arrows from the sender to the receiver. For more information on navigation
in the message page, see Navigation in Message Viewers on page 10-38.
2 To show the children of a lifeline, click the expander under a parent lifeline .

10-33
10 Messages

3 Hide the children lifelines by clicking the Lifeline Stack

.
4 Make a lifeline the root of focus for the viewer. Hover over the bottom left corner of
the lifeline header and click the arrow. Alternatively, use the navigation toolbar at
the top of a Message Viewer. A Message Viewer displays the current root lifeline
path and shows its child lifelines.

10-34
 Work with Message Viewer

Any external sending and receiving events display in the diagram gutter . To
highlight the associated block in the model, click the gutter.

You can use the navigation toolbar to move the current root up and down the lifeline
hierarchy. To move up the current root one level, hit the Esc key.

This graphic also illustrates how the Message Viewer displays masked subsystems.
The Traffic Lamp 1, Ped Lamp 1, Traffic Lamp 2, and PED Lamp 2 are masked
subsystems. The Message Viewer displays masked subsystems as white blocks.

10-35
10 Messages

5 To show the children of a masked subsystem, hover over the bottom left corner of the
masked and subsystem and click the arrow.

The child lifeline displays.

6 Activations that correspond to executions of the lifeline are at the start and end of
each message line.

If a message line is not completely shown, hover over the line. You can also, hover
over a truncated message label to see it in its entirety. In this example, the send
time of the commIn message line is not visible. To see it, hover over the message
line.

If you hover over an activation that represents a function call, the function prototype
is displayed in the tool tip.

If you hover over partially shown activation symbols, the times for any truncated
activations also appear.

10-36
 Work with Message Viewer

7 A Message Viewer shows the interactions (hops) that a message or function call
goes through in its lifetime. It also shows message and function call payloads. To
highlight the hops for a message and display its payload, click the corresponding
message line. See the result in the payload inspector to the right. Use Search Up
and Down buttons to move through the hops.

Redisplay of Information in Message Viewer

A Message Viewer block saves the order and states of lifelines between simulation runs.
Similarly, when you close and reopen a Message Viewer, it preserves the last open
lifeline state. To save a particular viewer state with the block, click in the navigation

toolbar. Saving the model saves the state information across sessions. Use to load the
saved settings.

Time in Message Viewers

A Message Viewer shows message events vertically, ordered in time. Multiple events
in Simulink can happen at the same time. Conversely, there can be long periods of
times during simulation with no events. As a consequence, time in the message pane is
nonlinear. Each time grid row, bordered by two blue lines, contains events that occur at
the same simulation time. The time strip gives the times of the events in that grid row.

The time ruler shows linear simulation time. To show messages in that simulation time
range, use the scroll wheel or drag the time slider up and down the time ruler.

10-37
10 Messages

Time Grid
Time Strip

Time Ruler

Time Slider

To navigate to the beginning and end of the simulation, click the Go to first event
and Go to last event buttons.
To zoom the ruler, hold the space bar and use the mouse wheel. This action increases
and decreases the amount of time ruler space the slider occupies.
The time ruler covers the whole simulation time. To see the entire simulation
duration on the time ruler, click the Fit to view button .
To reset the zoom to 100%, hold Ctrl + 0.

Navigation in Message Viewers

To scroll in the header and message panes, use the mouse wheel. In addition,

The header pane has a vertical scroll bar.

The message page has a horizontal scroll bar at the bottom that scrolls both panes.

To pan in the message pane, move the mouse while holding down either the middle
mouse button or space bar. This action moves both panes.

You can scale the view in two ways:

Fit all lifeline headers to window Press the space bar.

Zoom by a fixed increment to a predefined minimum or maximum value Press
Ctrl- or Ctrl+. Alternatively, hold the space bar and use the mouse wheel.

10-38
 Work with Message Viewer

Zooming does not scale the navigation toolbar or time ruler.

Function Calls in Message Viewer

The Message Viewer block displays these function calls and replies to them.

Function Call Type Support

Calls to Simulink Function blocks Fully supported
Calls to Stateflow graphical or Stateflow Scoped Select the Export chart
MATLAB functions level functions chart option. Use
the chartName.functionName dot
notation.
Global Select the Treat exported
functions as globally visible
chart option. You do not need the dot
notation.

The Message Viewer block does not display these function calls:

Function calls connected to function-call subsystems.

For an example of functions calls in Message Viewer, see slexPrinterExample.

The Message Viewer displays function calls with solid lines terminated with solid
arrows and a label with the format function_name(argument_list). Replies to
function calls display as dashed lines with open arrows and a label with the format
[argument_list]=function_name.

See Also
Message Viewer | Message Viewer | Message Viewer

10-39
10 Messages

More About
How Messages Work in Stateflow Charts on page 10-2

10-40
 11

Use Actions in Charts

State Action Types on page 11-2

Transition Action Types on page 11-8
Execution of Actions in States and Transitions on page 11-12
Combine State Actions to Eliminate Redundant Code on page 11-16
Supported Operations on Chart Data on page 11-19
Supported Symbols in Actions on page 11-27
Call C Functions in C Charts on page 11-31
Access Built-In MATLAB Functions and Workspace Data on page 11-38
Use Arrays in Actions on page 11-50
Broadcast Events to Synchronize States on page 11-52
Control Chart Execution Using Temporal Logic on page 11-56
Detect Changes in Data Values on page 11-74
Check State Activity on page 11-86
Control Function-Call Subsystems Using Bind Actions on page 11-95
Simplify Stateflow Chart Using the duration Operator on page 11-113
11 Use Actions in Charts

State Action Types

States can have different action types, which include entry, during, exit, bind, and,
on actions. The actions for states are assigned to an action type using label notation with
this general format:

name/
entry:entry actions
during:during actions
exit:exit actions
bind:data_name, event_name
on event_name:on event_name actions
on message_name:on message_name actions

For example, different state action types appear in the following chart.

After you enter the name in the state label, enter a carriage return and specify the
actions for the state. The order you use to enter action types in the label does not matter.

11-2
 State Action Types

If you do not specify the action type explicitly for a statement, the chart treats that
statement as an entry action.

This table summarizes the different state action types.

State Action Abbreviation Description

entry en Executes when the state becomes
active
exit ex Executes when the state is active and
a transition out of the state occurs
during du Executes when the state is active and
a specific event occurs
bind none Binds an event or data object so that
only that state and its children can
broadcast the event or change the
data value
on event_name none Executes when the state is active and
it receives a broadcast of event_name
on message_name none Executes when a message
message_name is available.
on after(n, event_name) none Executes when the state is active
and after it receives n broadcasts of
event_name
on before(n, event_name) none Executes when the state is active
and before it receives n broadcasts of
event_name
on at(n, event_name) none Executes when the state is active and
it receives exactly n broadcasts of
event_name
on every(n, event_name) none Executes when the state is active and
upon receipt of every n broadcasts of
event_name

For a full description of entry, exit, during, bind, and on actions, see the sections
that follow. For more information about the after, before, at, and every temporal
logic operators, see Control Chart Execution Using Temporal Logic on page 11-56.

11-3
11 Use Actions in Charts

In the preceding table, the temporal logic operators use the syntax of event-based
temporal logic. For absolute-time temporal logic, the operators use a different syntax. For
details, see Operators for Absolute-Time Temporal Logic on page 11-63.

Entry Actions
Entry actions are preceded by the prefix entry or en for short, followed by a required
colon (:), followed by one or more actions. Separate multiple actions with a carriage
return, semicolon (;), or a comma (,). If you enter the name and slash followed directly
by actions, the actions are interpreted as entry action(s). This shorthand is useful if you
are specifying entry actions only.

Entry actions for a state execute when the state is entered (becomes active). In the
preceding example in State Action Types on page 11-2, the entry action id = x+y
executes when the state A is entered by the default transition.

For a detailed description of the semantics of entering a state, see Steps for Entering a
State on page 3-74 and State Execution Example on page 3-76.

Exit Actions
Exit actions are preceded by the prefix exit or ex for short, followed by a required colon
(:), followed by one or more actions. Separate multiple actions with a carriage return,
semicolon (;), or a comma (,).

Exit actions for a state execute when the state is active and a transition out of the state
occurs.

For a detailed description of the semantics of exiting a state, see Steps for Exiting an
Active State on page 3-75 and State Execution Example on page 3-76.

During Actions
During actions are preceded by the prefix during or du for short, followed by a required
colon (:), followed by one or more actions. Separate multiple actions with a carriage
return, semicolon (;), or a comma (,).

During actions for a state execute when the state is active and an event occurs and no
valid transition to another state is available.

11-4
 State Action Types

For a detailed description of the semantics of executing an active state, see Steps for
Executing an Active State on page 3-75 and State Execution Example on page 3-76.

Bind Actions
Bind actions are preceded by the prefix bind, followed by a required colon (:), followed
by one or more events or data. Separate multiple data/events with a carriage return,
semicolon (;), or a comma (,).

Bind actions bind the specified data and events to a state. Data bound to a state can be
changed by the actions of that state or its children. Other states and their children are
free to read the bound data, but they cannot change it. Events bound to a state can be
broadcast only by that state or its children. Other states and their children are free to
listen for the bound event, but they cannot send it.

Bind actions apply to a chart whether the binding state is active or not. In the preceding
example in State Action Types on page 11-2, the bind action bind: id,
time_out for state A binds the data id and the event time_out to state A. This binding
prevents any other state (or its children) in the chart from changing id or broadcasting
event time_out.

If another state includes actions that change data or broadcast events that bind to
another state, a parsing error occurs. The following example shows a few of these error
conditions:

11-5
11 Use Actions in Charts

State Action Reason for Parse Error

bind: id in state B Only one state can change the data id,
which binds to state A
entry: time_out in state C Only one state can broadcast the event
time_out, which binds to state A

Binding a function-call event to a state also binds the function-call subsystem that it
calls. In this case, the function-call subsystem is enabled when the binding state is
entered and disabled when the binding state is exited. For more information about this
behavior, see Control Function-Call Subsystems Using Bind Actions on page 11-95.

On Actions
On actions are preceded by the prefix on, followed by a unique event, event_name, or
message, message_name, followed by one or more actions. Separate multiple actions
with a carriage return, semicolon (;), or a comma (,). You can specify actions for more
than one event or message by adding additional on lines for different events or messages.

11-6
 State Action Types

For example, if you want different events to trigger different actions, enter multiple
on event_name action statements in the state's label, each specifying the action for a
particular event or set of events:
on ev1: action1();
on ev2: action2();

On actions execute when the state is active and the event event_name or message
message_name is received by the state. This action coincides with execution of during
actions for the state.

For a detailed description of the semantics of executing an active state, see Steps for
Executing an Active State on page 3-75.

Related Examples
Combine State Actions to Eliminate Redundant Code on page 11-16

11-7
11 Use Actions in Charts

Transition Action Types

In State Action Types on page 11-2, you see how you can attach actions to the label
for a state. You can also attach actions to a transition on its label. Transitions can have
different action types, which include event or message triggers, conditions, condition
actions, and transition actions. The action types follow the label notation with this
general format:

event_or_message trigger[condition]{condition_action}/{transition_action}

The following example shows typical transition label syntax:

Transition Event Trigger Condition Condition Action Transition Action

State A to state event1 temp > 50 func1() None
C
State A to state event2 None None data1 = 5
B

11-8
 Transition Action Types

Event or Message Triggers

In transition label syntax, event or message triggers appear first as the name of an
event or message. They have no distinguishing special character to separate them from
other actions in a transition label. In the example in Transition Action Types on page
11-8, both transitions from state A have event triggers. The transition from state A
to state B has the event trigger event2 and the transition from state A to state C has the
event trigger event1.

11-9
11 Use Actions in Charts

Event triggers specify an event that causes the transition to be taken, provided the
condition, if specified, is true. Specifying an event is optional. Message triggers specify
the transition to be taken if the message is present in the message queue. The absence
of an event or message indicates that the transition is taken upon the occurrence of any
event. Multiple events or messages are specified using the OR logical operator (|).

Conditions
In transition label syntax, conditions are Boolean expressions enclosed in square
brackets ([]). In the example in Transition Action Types on page 11-8, the transition
from state A to state C has the condition temp > 50.

A condition is a Boolean expression to specify that a transition occurs given that the
specified expression is true. Follow these guidelines for defining and using conditions:

The condition expression must be a Boolean expression that evaluates to true (1) or
false (0).
The condition expression can consist of any of the following:

Boolean operators that make comparisons between data and numeric values
A function that returns a Boolean value
An in(state_name) condition that evaluates to true when the state specified as
the argument is active (see Check State Activity on page 11-86)

Note: A chart cannot use the in condition to trigger actions based on the activity
of states in other charts.
Temporal logic conditions (see Control Chart Execution Using Temporal Logic on
page 11-56)
The condition expression can call a graphical function, truth table function, or
MATLAB function that returns a numeric value.

For example, [test_function(x, y) < 0] is a valid condition expression.

Note: If the condition expression calls a function with multiple return values, only the
first value applies. The other return values are not used.
The condition expression should not call a function that causes the chart to change
state or modify any variables.

11-10
 Transition Action Types

Boolean expressions can be grouped using & for expressions with AND relationships
and | for expressions with OR relationships.
Assignment statements are not valid condition expressions.
Unary increment and decrement actions are not valid condition expressions.

Condition Actions
In transition label syntax, condition actions follow the transition condition and are
enclosed in curly braces ({}). In the example in Transition Action Types on page 11-8,
the transition from state A to state C has the condition action func1(), a function call.

Condition actions are executed as soon as the condition is evaluated as true, but before
the transition destination has been determined to be valid. If no condition is specified, an
implied condition evaluates to true and the condition action is executed.

Note: If a condition is guarded by an event, it is checked only if the event trigger is

active. If a condition is guarded by a message, it is checked only if the message is present.

Transition Actions
In transition label syntax, transition actions are preceded with a forward slash (/) and
are enclosed in curly braces ({}). In the example in Transition Action Types on page
11-8, the transition from state A to state B has the transition action data1 = 5. In C
charts, transition actions are not required to be enclosed in curly braces. In charts that
use MATLAB as the action language, the syntax is auto corrected if the curly braces
are missing from the transition action. See Action Language Auto Correction on page
12-6.

Transition actions execute only after the complete transition path is taken. They execute
after the transition destination has been determined to be valid, and the condition, if
specified, is true. If the transition consists of multiple segments, the transition action
executes only after the entire transition path to the final destination is determined to be
valid.

11-11
11 Use Actions in Charts

Execution of Actions in States and Transitions

The following chart shows how different constructs interact during simulation:

When you simulate the model, you get the following results:

11-12
 Execution of Actions in States and Transitions

The following actions occur in the TransAction state:

11-13
11 Use Actions in Charts

Time What Happens in the TransAction State

0.0 State TA becomes active.
In TA, the entry action executes by setting the value of outVal to 0.
0.1 The transition from TA to junction J1 occurs, because the path is unconditional.
Evaluation of the condition between J1 and J2 occurs, which returns true.
The transition action does not execute, because the full transition path from J1 to TB is
not complete.
Evaluation of the condition between J2 and TB occurs, which returns false. Therefore,
execution returns to J1.
The transition from J1 to J3 occurs, because the path is unconditional.
Evaluation of the condition between J3 and TB occurs, which returns false. Therefore,
execution returns to TA.
In TA, the during action executes by decrementing the value of outVal by 1.
0.2 The execution pattern from t = 0.1 repeats for each time step.
1.0
1.1 The transition from TA to junction J1 occurs, because the path is unconditional.
Evaluation of the condition between J1 and J2 occurs, which returns true.
The transition action does not execute, because the full transition path from J1 to TB is
not complete.
Evaluation of the condition between J2 and TB occurs, which returns false. Therefore,
execution returns to J1.
The transition from J1 to J3 occurs, because the path is unconditional.
Evaluation of the condition between J3 and TB occurs, which returns true.
State TB becomes active.
Because the transition from J3 to TB is now complete, the transition action executes by
setting the value of outVal to 0.

The following actions occur in the CondAction state:

Time What Happens in the CondAction State

0.0 State CA becomes active.
In CA, the entry action executes by setting the value of outVal_2 to 0.

11-14
 Execution of Actions in States and Transitions

Time What Happens in the CondAction State

0.1 The transition from CA to junction J1 occurs, because the path is unconditional.
Evaluation of the condition between J1 and J2 occurs, which returns true.
The condition action executes by decrementing the value of outVal_2 by 2.
Evaluation of the condition between J2 and CB occurs, which returns false. Therefore,
execution returns to J1.
The transition from J1 to J3 occurs, because the path is unconditional.
Evaluation of the condition between J3 and CB occurs, which returns false. Therefore,
execution returns to CA.
In CA, the during action executes by decrementing the value of outVal_2 by 1.
0.2 The execution pattern from t = 0.1 repeats for each time step.
0.3
0.4 The transition from CA to junction J1 occurs, because the path is unconditional.
Evaluation of the condition between J1 and J2 occurs, which returns true.
The condition action executes by decrementing the value of outVal_2 by 2.
Evaluation of the condition between J2 and CB occurs, which returns false. Therefore,
execution returns to J1.
The transition from J1 to J3 occurs, because the path is unconditional.
Evaluation of the condition between J3 and CB occurs, which returns true.
The condition action executes by setting the value of outVal_2 to 0.
State CB becomes active.

More About
State Action Types on page 11-2
Transition Action Types on page 11-8

11-15
11 Use Actions in Charts

Combine State Actions to Eliminate Redundant Code

In this section...
State Actions You Can Combine on page 11-16
Why Combine State Actions on page 11-16
How to Combine State Actions on page 11-16
Order of Execution of Combined Actions on page 11-17
Rules for Combining State Actions on page 11-18

State Actions You Can Combine

You can combine entry, during, and exit actions that execute the same tasks in a
state.

Why Combine State Actions

By combining state actions that execute the same tasks, you eliminate redundant code.
For example:

Separate Actions Equivalent Combined Actions

entry: entry: y = 0;
y = 0; entry, during: y=y+1;
y=y+1;
during: y=y+1;
en: en, du, ex: fcn1();
fcn1(); en: fcn2();
fcn2();
du: fcn1();
ex: fcn1();

Combining state actions this way produces the same chart execution behavior
(semantics) and generates the same code as the equivalent separate actions.

How to Combine State Actions

Combine a set of entry, during, and/or exit actions that perform the same task as a
comma-separated list in a state. Here is the syntax:

11-16
 Combine State Actions to Eliminate Redundant Code

entry, during, exit: task1; task2;...taskN;

You can also use the equivalent abbreviations:

en, du, ex: task1; task2;...taskN;

Valid Combinations

You can use any combination of the three actions. For example, the following
combinations are valid:

en, du:
en, ex:
du, ex:
en, du, ex:

You can combine actions in any order in the comma-separated list. For example, en,
du: gives the same result as du, en:.

Invalid Combinations

You cannot combine two or more actions of the same type. For example, the following
combinations are invalid:

en, en:
ex, en, ex:
du, du, ex:

If you combine multiple actions of the same type, you receive a warning that the chart
executes the action only once.

Order of Execution of Combined Actions

States execute combined actions in the same order as they execute separate actions:

1 Entry actions first, from top to bottom in the order they appear in the state
2 During actions second, from top to bottom
3 Exit actions last, from top to bottom

The order in which you combine actions does not affect state execution behavior. For
example:

11-17
11 Use Actions in Charts

This state... Executes actions in this order...

1 en: y = 0;
2 en: y=y+1;
3 du: y=y+1;

1 en: y=y+1;
2 en: y = 0;
3 du: y=y+1;

1 en: y=y+1;
2 en: y = 0;
3 du: y=y+1;

1 en: y=y+1;
2 en: y = 10;
3 du: y=y+1;
4 ex: y = 10;

Rules for Combining State Actions

Do not combine multiple actions of the same type.
Do not create data, events, or messages that have the same name as the action
keywords: entry, en, during, du, exit, ex.

More About
State Action Types on page 11-2

11-18
 Supported Operations on Chart Data

Supported Operations on Chart Data

In this section...
Binary and Bitwise Operations on page 11-19
Unary Operations on page 11-22
Unary Actions on page 11-22
Assignment Operations on page 11-22
Pointer and Address Operations on page 11-23
Type Cast Operations on page 11-24
Replace Operators with Application Implementations on page 11-25

Binary and Bitwise Operations

The table below summarizes the interpretation of all binary operators in C charts. These
operators work with the following order of precedence (0 = highest, 10 = lowest). Logical
binary operators with the same precedence evaluate from left to right. The order of
evaluation for other operators is unspecified. For example, the order in which foo() and
bar() are evaluated is unspecified in the assignment below.
A = foo() > bar();

For more predictable results, it is good coding practice to split expressions that depend on
the order of evaluation into multiple statements.

You can specify that the binary operators &, ^, |, &&, and || are interpreted as bitwise
operators in Stateflow generated C code for a chart or for all the charts in a model. See
these individual operators in the table below for specific binary or bitwise operator
interpretations.

Example Precedence Description

a ^ b 0 Operand a raised to power b

Enabled when you clear Enable C-bit

operations in the Chart properties dialog
box. See Specify Chart Properties on page
22-3.
a * b 1 Multiplication

11-19
11 Use Actions in Charts

Example Precedence Description

a / b 1 Division
a %% b 1 Remainder
a + b 2 Addition
a - b 2 Subtraction
a >> b 3 Shift operand a right by b bits. Noninteger
operands for this operator are first cast to
integers before the bits are shifted.
a << b 3 Shift operand a left by b bits. Noninteger
operands for this operator are first cast to
integers before the bits are shifted.
a > b 4 Comparison of the first operand greater than the
second operand
a < b 4 Comparison of the first operand less than the
second operand
a >= b 4 Comparison of the first operand greater than or
equal to the second operand
a <= b 4 Comparison of the first operand less than or
equal to the second operand
a == b 5 Comparison of equality of two operands
a ~= b 5 Comparison of inequality of two operands
a != b 5 Comparison of inequality of two operands
a <> b 5 Comparison of inequality of two operands

11-20
 Supported Operations on Chart Data

Example Precedence Description

a & b 6 One of the following:

Bitwise AND of two operands

Enabled when you select Enable C-bit

operations in the Chart properties dialog
box (default). See Specify Chart Properties
on page 22-3.
Logical AND of two operands

Enabled when you clear Enable C-bit

operations in the Chart properties dialog
box.
a ^ b 7 Bitwise XOR of two operands

Enabled when you select Enable C-bit

operations in the Chart properties dialog box
(default). See Specify Chart Properties on page
22-3.
a | b 8 One of the following:

Bitwise OR of two operands

Enabled when you select Enable C-bit

operations in the Chart properties dialog
box (default). See Specify Chart Properties
on page 22-3.
Logical OR of two operands

Enabled when you clear Enable C-bit

operations in the Chart properties dialog
box.
a && b 9 Logical AND of two operands
a || b 10 Logical OR of two operands

11-21
11 Use Actions in Charts

Unary Operations
The following unary operators are supported in C charts. Unary operators have higher
precedence than the binary operators, except for the power operator a ^ b. The power
operator has the highest level of precedence. The operators are evaluated right to left
(right associative).

Example Description
~a Logical NOT of a

Complement of a (if bitops is enabled)

!a Logical NOT of a
-a Negative of a

Unary Actions
The following unary actions are supported in C charts.

Example Description
a++ Increment a
a-- Decrement a

Assignment Operations
The following assignment operations are supported in C charts.

Example Description
a = expression Simple assignment
a := expression Used primarily with fixed-point numbers. See Assignment
(=, :=) Operations on page 20-30 for a detailed description.
a += expression Equivalent to a = a + expression
a -= expression Equivalent to a = a - expression
a *= expression Equivalent to a = a * expression
a /= expression Equivalent to a = a / expression

11-22
 Supported Operations on Chart Data

The following assignment operations are supported in C charts when Enable C-bit
operations is selected in the properties dialog box for the chart. See Specify Chart
Properties on page 22-3.

Example Description
a |= expression Equivalent to a = a | expression (bit operation). See
operation a | b in Binary and Bitwise Operations on page
11-19.
a &= expression Equivalent to a = a & expression (bit operation). See
operation a & b in Binary and Bitwise Operations on page
11-19.
a ^= expression Equivalent to a = a ^ expression (bit operation). See
operation a ^ b in Binary and Bitwise Operations on page
11-19.

Pointer and Address Operations

The address operator (&) is available in C charts for use with both Stateflow and custom
code variables. The pointer operator (*) is available for use only with custom code
variables.

Note: The parser uses a relaxed set of restrictions and does not catch syntax errors until
compile time.

The following examples show syntax that is valid for both Stateflow and custom code
variables. The prefix cc_ shows the places where you can use only custom code variables,
and the prefix sfcc_ shows the places where you can use either Stateflow or custom code
variables.
cc_varPtr = &sfcc_var;
cc_ptr = &sfcc_varArray[<expression>];
cc_function(&sfcc_varA, &sfcc_varB, &sfcc_varC);
cc_function(&sfcc_sf.varArray[<expression>]);

The following examples show syntax that is valid only for custom code variables.
varStruct.field = <expression>;
(*varPtr) = <expression>;

11-23
11 Use Actions in Charts

varPtr->field = <expression>;
myVar = varPtr->field;
varPtrArray[index]->field = <expression>;
varPtrArray[expression]->field = <expression>;
myVar = varPtrArray[expression]->field;

Type Cast Operations

You can use type cast operators to convert a value of one type to a value that can be
represented in another type. Normally, you do not need to use type cast operators in
actions because Stateflow software checks whether the types involved in a variable
assignment differ and compensates by inserting the required type cast operator of
the target language (typically C) in the generated code. However, external (custom)
code might require data in a different type from those currently available. In this case,
Stateflow software cannot determine the required type casts, and you must explicitly use
a type cast operator to specify the target language type cast operator to generate.

For example, you might have a custom code function that requires integer RGB values
for a graphic plot. You might have these values in Stateflow data, but only in data of type
double. To call this function, you must type cast the original data and assign the result
to integers, which you use as arguments to the function.

Stateflow type cast operations have two forms: the MATLAB type cast form and the
explicit form using the cast operator. These operators and the special type operator,
which works with the explicit cast operator, are described in the topics that follow.

MATLAB Form Type Cast Operators

The MATLAB type casting form has the general form

<type_op>(<expression>)

<type_op> is a conversion type operator that can be double, single, int32, int16,
int8, uint32, uint16, uint8, or boolean. <expression> is the expression to be
converted. For example, you can cast the expression x+3 to a 16-bit unsigned integer and
assign its value to the data y as follows:
y = uint16(x+3)

Explicit Type Cast Operator

You can also type cast with the explicit cast operator, which has the following general
form:

11-24
 Supported Operations on Chart Data

cast(<expression>,<type>)

As in the preceding example, the statement

y = cast(x+3,'uint16')

will cast the expression x+3 to a 16-bit unsigned integer and assign it to y, which can be
of any type.

type Operator

To make type casting more convenient, you can use a type operator that works with the
explicit type cast operator cast to let you assign types to data based on the types of other
data.

The type operator returns the type of an existing Stateflow data according to the general
form

type(<data>)

where <data> is the data whose type you want to return.

The return value from a type operation can be used only in an explicit cast operation.
For example, if you want to convert the data y to the same type as that of data z, use the
following statement:

cast(y,type(z))

In this case, the data z can have any acceptable Stateflow type.

Replace Operators with Application Implementations

You can configure the code generator to change the code that it generates for operators
such that the code meets application requirements. To do this you configure the code
generator to apply a code replacement library (CRL) during code generation. If you
have an Embedded Coder license, you can develop and apply custom code replacement
libraries.

Operator entries of the code replacement library can specify integral or fixed-point
operand and result patterns. Operator entries can be used for the following built-in
operators:
+

11-25
11 Use Actions in Charts

-
*
/

For example, you can replace an expression such as y = u1 + u2 with a target-specific

implementation, as long as u1, u2, and y have types that permit a match with an
addition entry in the code replacement library.

C chart semantics might limit operator entry matching because the chart uses the target
integer size as its intermediate type in arithmetic expressions. For example, suppose a
Stateflow action contains this arithmetic expression:
y = (u1 + u2) % 3

This expression computes the intermediate addition into a target integer. If the target
integer size is 32 bits, you cannot replace this expression with an addition operator from
the code replacement library to produce a signed 16-bit result, without a loss of precision.

For more information about replacing code, using code replacement libraries that
MathWorks provides, see What Is Code Replacement? (Simulink Coder) and Code
Replacement Libraries (Simulink Coder). For information about developing custom
code replacement libraries, see What Is Code Replacement Customization? (Embedded
Coder) and Code You Can Replace From Simulink Models (Embedded Coder).

11-26
 Supported Symbols in Actions

Supported Symbols in Actions

In this section...
Boolean Symbols, true and false on page 11-27
Comment Symbols, %, //, /* on page 11-28
Hexadecimal Notation Symbols, 0xFF on page 11-28
Infinity Symbol, inf on page 11-28
Line Continuation Symbol, ... on page 11-29
Literal Code Symbol, $ on page 11-29
MATLAB Display Symbol, ; on page 11-29
Single-Precision Floating-Point Number Symbol, F on page 11-29
Time Symbol, t on page 11-29

Boolean Symbols, true and false

Use the symbols true and false to represent Boolean constants. You can use these
symbols as scalars in expressions. Examples include:

cooling_fan = true;
heating_fan = false;

Tip: These symbols are case-sensitive. Therefore, TRUE and FALSE are not Boolean
symbols.

Do not use true and false in the following cases. Otherwise, error messages appear.

Left-hand side of assignment statements

true++;
false += 3;
[true, false] = my_function(x);
Argument of the change implicit event (see Control Chart Execution Using Implicit
Events on page 9-33)

11-27
11 Use Actions in Charts

change(true);
chg(false);
Indexing into a vector or matrix (see Assign and Access Vector and Matrix Values on
page 16-8)

x = true[1];
y = false[1][1];

Note: If you define true and false as Stateflow data objects, your custom definitions of
true and false override the built-in Boolean constants.

Comment Symbols, %, //, /*

Use the symbols %, //, and /* to represent comments as shown in these examples:
% MATLAB comment line
// C++ comment line
/* C comment line */

You can also include comments in generated code for an embedded target (see Model
Configuration Parameters: Code Generation Comments (Simulink Coder). C chart
comments in generated code use multibyte character code. Therefore, you can have code
comments with characters for non-English alphabets, such as Japanese Kanji characters.

Hexadecimal Notation Symbols, 0xFF

C charts support C style hexadecimal notation, for example, 0xFF. You can use
hexadecimal values wherever you can use decimal values.

Infinity Symbol, inf

Use the MATLAB symbol inf to represent infinity in C charts. Calculations like n/0,
where n is any nonzero real value, result in inf.

Note: If you define inf as a Stateflow data object, your custom definition of inf
overrides the built-in value.

11-28
 Supported Symbols in Actions

Line Continuation Symbol, ...

Use the characters ... at the end of a line to indicate that the expression continues on
the next line. For example, you can use the line continuation symbol in a state action:
entry: total1 = 0, total2 = 0, ...
total3 = 0;

Literal Code Symbol, $

Use $ characters to mark actions that you want the parser to ignore but you want to
appear in the generated code. For example, the parser does not process any text between
the $ characters below.

$
ptr -> field = 1.0;
$

Note: Avoid frequent use of literal symbols.

MATLAB Display Symbol, ;

Omitting the semicolon after an expression displays the results of the expression in the
MATLAB Command Window. If you use a semicolon, the results do not appear.

Single-Precision Floating-Point Number Symbol, F

Use a trailing F to specify single-precision floating-point numbers in C charts. For
example, you can use the action statement x = 4.56F; to specify a single-precision
constant with the value 4.56. If a trailing F does not appear with a number, double
precision applies.

Time Symbol, t
For C charts, use the letter t to represent absolute time that the chart inherits from a
Simulink signal in simulation targets. For example, the condition [t - On_time >
Duration] specifies that the condition is true if the difference between the simulation
time t and On_time is greater than the value of Duration.

11-29
11 Use Actions in Charts

The letter t has no meaning for nonsimulation targets, since t depends on the specific
application and target hardware.

Note: If you define t as a Stateflow data object, your custom definition of t overrides the
built-in value.

For charts that use MATLAB as the action language the letter t is not a reserved
symbol. To get the simulation time, use the function getSimulationTime().

11-30
 Call C Functions in C Charts

Call C Functions in C Charts

In this section...
Call C Library Functions on page 11-31
Call the abs Function on page 11-32
Call min and max Functions on page 11-32
Replacement of Math Library Functions with Application Implementations on page
11-33
Call Custom C Code Functions on page 11-33

Call C Library Functions

You can call this subset of the C Math Library functions:

* ** ** ** ** ** **
abs acos asin atan atan2 ceil
** ** ** fabs ** **
cos cosh exp floor fmod
labs ** ** ** ** rand
ldexp log log10 pow
sin
**
sinh
**
sqrt
**
tan
**
tanh
**

*
The Stateflow abs function goes beyond that of its standard C counterpart with its own
built-in functionality. See Call the abs Function on page 11-32.
**
You can also replace calls to the C Math Library with application-specific
implementations for this subset of functions. For more information, see Replacement of
Math Library Functions with Application Implementations on page 11-33.

When you call these math functions, double precision applies unless all the input
arguments are explicitly single precision. When a type mismatch occurs, a cast of the
input arguments to the expected type replace the original arguments. For example, if
you call the sin function with an integer argument, a cast of the input argument to a
floating-point number of type double replaces the original argument.

If you call other C library functions not listed above, include the appropriate
#include... statement in the Simulation Target pane of the Configuration
Parameters.

11-31
11 Use Actions in Charts

Call the abs Function

Interpretation of the Stateflow abs function goes beyond the standard C version to
include integer and floating-point arguments of all types as follows:

If x is an integer of type int32, the standard C function abs applies to x, or abs(x).

If x is an integer of type other than int32, the standard C abs function applies to a
cast of x as an integer of type int32, or abs((int32)x).
If x is a floating-point number of type double, the standard C function fabs applies
to x, or fabs(x).
If x is a floating-point number of type single, the standard C function fabs applies
to a cast of x as a double, or fabs((double)x).
If x is a fixed-point number, the standard C function fabs applies to a cast of the
fixed-point number as a double, or fabs((double)Vx), where Vx is the real-world
value of x.

If you want to use the abs function in the strict sense of standard C, cast its argument or
return values to integer types. See Type Cast Operations on page 11-24.

Note: If you declare x in custom code, the standard C abs function applies in all cases.
For instructions on inserting custom code into charts, see Share Data Using Custom C
Code on page 28-25.

Call min and max Functions

You can call min and max by emitting the following macros automatically at the top of
generated code.

#define min(x1,x2) ((x1) > (x2) ? (x2):(x1))

#define max(x1,x2) ((x1) > (x2) ? (x1):(x2))

To allow compatibility with user graphical functions named min() or max(), generated
code uses a mangled name of the following form: <prefix>_min. However, if you export
min() or max() graphical functions to other charts in your model, the name of these
functions can no longer be emitted with mangled names in generated code and conflict
occurs. To avoid this conflict, rename the min() and max() graphical functions.

11-32
 Call C Functions in C Charts

Replacement of Math Library Functions with Application Implementations

You can configure the code generator to change the code that it generates for math
library functions such that the code meets application requirements. To do this you
configure the code generator to apply a code replacement library (CRL) during code
generation. If you have an Embedded Coder license, you can develop and apply custom
code replacement libraries.

For more information about replacing code, using code replacement libraries that
MathWorks provides, see What Is Code Replacement? (Simulink Coder) and Code
Replacement Libraries (Simulink Coder) in the Simulink Coder documentation. For
information about developing custom code replacement libraries, see What Is Code
Replacement Customization? (Embedded Coder) and Code You Can Replace From
Simulink Models (Embedded Coder) in the Embedded Coder documentation.

Call Custom C Code Functions

You can specify custom code functions for use in C charts for simulation and C code
generation.

Specify Custom C Functions for Simulation on page 11-33

Specify Custom C Functions for Code Generation on page 11-34
Guidelines for Calling Custom C Functions in Your Chart on page 11-34
Guidelines for Writing Custom C Functions That Access Input Vectors on page
11-34
Function Call in Transition Action on page 11-35
Function Call in State Action on page 11-35
Pass Arguments by Reference on page 11-36

Specify Custom C Functions for Simulation

To specify custom C functions for simulation:

1 Open the Model Configuration Parameters dialog box.

2 Select Simulation Target.
3 Specify your custom C files, as described in Integrate Custom C Code for Nonlibrary
Charts for Simulation on page 28-6.

11-33
11 Use Actions in Charts

Specify Custom C Functions for Code Generation

To specify custom C functions for code generation:

1 Open the Model Configuration Parameters dialog box.

2 Select Code Generation > Custom Code.
3 Specify your custom C files, as described in Integrate External Code for All Charts
(Simulink Coder).

Guidelines for Calling Custom C Functions in Your Chart

Define a function by its name, any arguments in parentheses, and an optional

semicolon.
Pass parameters to user-written functions using single quotation marks. For example,
func('string').
An action can nest function calls.
An action can invoke functions that return a scalar value (of type double in the case
of MATLAB functions and of any type in the case of C user-written functions).

Guidelines for Writing Custom C Functions That Access Input Vectors

Use the sizeof function to determine the length of an input vector.

For example, your custom function can include a for-loop that uses sizeof as follows:

for(i=0; i < sizeof(input); i++) {

......
}
If your custom function uses the value of the input vector length multiple times,
include an input to your function that specifies the input vector length.

For example, you can use input_length as the second input to a sum function as
follows:

int sum(double *input, double input_length)

Your sum function can include a for-loop that iterates over all elements of the input
vector:

for(i=0; i < input_length; i++) {

......

11-34
 Call C Functions in C Charts

Function Call in Transition Action

Example formats of function calls using transition action notation appear in the following
chart.

A function call to fcn1 occurs with arg1, arg2, and arg3 if the following are true:

S1 is active.
Event e occurs.
Condition c is true.
The transition destination S2 is valid.

The transition action in the transition from S2 to S3 shows a function call nested within
another function call.

Function Call in State Action

Example formats of function calls using state action notation appear in the following
chart.

11-35
11 Use Actions in Charts

Chart execution occurs as follows:

1 When the default transition into S1 occurs, S1 becomes active.

2 The entry action, a function call to fcn1 with the specified arguments, executes.
3 After 5 seconds of simulation time, S1 becomes inactive and S2 becomes active.
4 The during action, a function call to fcn2 with the specified arguments, executes.
5 After 10 seconds of simulation time, S2 becomes inactive and S1 becomes active
again.
6 Steps 2 through 5 repeat until the simulation ends.

Pass Arguments by Reference

A Stateflow action can pass arguments to a user-written function by reference rather

than by value. In particular, an action can pass a pointer to a value rather than the value
itself. For example, an action could contain the following call:

f(&x);

where f is a custom-code C function that expects a pointer to x as an argument.

If x is the name of a data item defined in the Stateflow hierarchy, the following rules
apply:

Do not use pointers to pass data items input from a Simulink model.

If you need to pass an input item by reference, for example, an array, assign the item
to a local data item and pass the local item by reference.

11-36
 Call C Functions in C Charts

If x is a Simulink output data item having a data type other than double, the chart
property Use Strong Data Typing with Simulink I/O must be on (see Specify
Chart Properties on page 22-3).
If the data type of x is boolean, you must turn off the coder option Use bitsets for
storing state configuration.
If x is an array with its first index property set to 0 (see Set Data Properties on page
8-6), then you must call the function as follows.

f(&(x[0]));

This passes a pointer to the first element of x to the function.

If x is an array with its first index property set to a nonzero number (for example, 1),
the function must be called in the following way:

f(&(x[1]));

This passes a pointer to the first element of x to the function.

11-37
11 Use Actions in Charts

Access Built-In MATLAB Functions and Workspace Data

In this section...
Call MATLAB Functions in Stateflow on page 11-38
ml Namespace Operator on page 11-38
ml Function on page 11-39
ml Expressions on page 11-41
Which ml Should I Use? on page 11-41
ml Data Type on page 11-43
How Charts Infer the Return Size for ml Expressions on page 11-45

Call MATLAB Functions in Stateflow

For C charts, you can call MATLAB functions and access MATLAB workspace variables
in Stateflow actions, using the ml namespace operator or the ml function.

For charts that use MATLAB as the action language, you can call MATLAB functions
supported for code generation directly.

Caution Because MATLAB functions are not available in a target environment, do not
use the ml namespace operator and the ml function if you plan to build a code generation
target.

ml Namespace Operator
For C charts, the ml namespace operator uses standard dot (.) notation to reference
MATLAB variables and functions. For example, the statement a = ml.x returns the
value of the MATLAB workspace variable x to the Stateflow data a.

For functions, the syntax is as follows:

[return_val1, return_val2,...] = ml.matfunc(arg1, arg2,...)

For example, the statement [a, b, c] = ml.matfunc(x, y) passes the return

values from the MATLAB function matfunc to the Stateflow data a, b, and c.

11-38
 Access Built-In MATLAB Functions and Workspace Data

If the MATLAB function you call does not require arguments, you must still include the
parentheses. If you omit the parentheses, Stateflow software interprets the function
name as a workspace variable, which, when not found, generates a run-time error during
simulation.

Examples

In these examples, x, y, and z are workspace variables and d1 and d2 are Stateflow data:

a = ml.sin(ml.x)

In this example, the MATLAB function sin evaluates the sine of x, which is then
assigned to Stateflow data variable a. However, because x is a workspace variable,
you must use the namespace operator to access it. Hence, ml.x is used instead of just
x.
a = ml.sin(d1)

In this example, the MATLAB function sin evaluates the sine of d1, which is
assigned to Stateflow data variable a. Because d1 is Stateflow data, you can access it
directly.
ml.x = d1*d2/ml.y

The result of the expression is assigned to x. If x does not exist prior to simulation, it
is automatically created in the MATLAB workspace.
ml.v[5][6][7] = ml.matfunc(ml.x[1][3], ml.y[3], d1, d2, 'string')

The workspace variables x and y are arrays. x[1][3] is the (1,3) element of the
two-dimensional array variable x. y[3] is the third element of the one-dimensional
array variable y. The last argument, 'string', is a character vector.

The return from the call to matfunc is assigned to element (5,6,7) of the workspace
array, v. If v does not exist prior to simulation, it is automatically created in the
MATLAB workspace.

ml Function
For C charts, you can use the ml function to specify calls to MATLAB functions. The
format for the ml function call uses this notation:

ml(evalString, arg1, arg2,...);

11-39
11 Use Actions in Charts

evalString is an expression that is evaluated in the MATLAB workspace. It contains

a MATLAB command (or a set of commands, each separated by a semicolon) to execute
along with format specifiers (%g, %f, %d, etc.) that provide formatted substitution of the
other arguments (arg1, arg2, etc.) into evalString.

The format specifiers used in ml functions are the same as those used in the C functions
printf and sprintf. The ml function call is equivalent to calling the MATLAB eval
function with the ml namespace operator if the arguments arg1, arg2,... are
restricted to scalars or literals in the following command:
ml.eval(ml.sprintf(evalString, arg1, arg2,...))

Stateflow software assumes scalar return values from ml namespace operator and ml
function calls when they are used as arguments in this context. See How Charts Infer
the Return Size for ml Expressions on page 11-45.

Examples
In these examples, x is a MATLAB workspace variable, and d1 and d2 are Stateflow
data:

a = ml('sin(x)')

In this example, the ml function calls the MATLAB function sin to evaluate the sine
of x in the MATLAB workspace. The result is then assigned to Stateflow data variable
a. Because x is a workspace variable, and sin(x) is evaluated in the MATLAB
workspace, you enter it directly in the evalString argument ('sin(x)').
a = ml('sin(%f)', d1)

In this example, the MATLAB function sin evaluates the sine of d1 in the MATLAB
workspace and assigns the result to Stateflow data variable a. Because d1 is
Stateflow data, its value is inserted in the evalString argument ('sin(%f)') using
the format expression %f. This means that if d1 = 1.5, the expression evaluated in the
MATLAB workspace is sin(1.5).
a = ml('matfunc(%g, ''abcdefg'', x, %f)', d1, d2)

In this example, the expression 'matfunc(%g, ''abcdefg'', x, %f)' is the

evalString shown in the preceding format statement. Stateflow data d1 and d2
are inserted into that expression with the format specifiers %g and %f, respectively.
''abcdefg'' is a literal enclosed with two single pairs of quotation marks because
it is part of the evaluation expression, which is already enclosed in single quotation
marks.

11-40
 Access Built-In MATLAB Functions and Workspace Data

sfmat_44 = ml('rand(4)')

In this example, a square 4-by-4 matrix of random numbers between 0 and 1 is

returned and assigned to the Stateflow data sf_mat44. Stateflow data sf_mat44
must be defined as a 4-by-4 array before simulation. If its size is different, a size
mismatch error is generated during run-time.

ml Expressions
For C charts, you can mix ml namespace operator and ml function expressions along
with Stateflow data in larger expressions. The following example squares the sine and
cosine of an angle in workspace variable X and adds them:
ml.power(ml.sin(ml.X),2) + ml('power(cos(X),2)')

The first operand uses the ml namespace operator to call the sin function. Its argument
is ml.X, since X is in the MATLAB workspace. The second operand uses the ml function.
Because X is in the workspace, it appears in the evalString expression as X. The
squaring of each operand is performed with the MATLAB power function, which takes
two arguments: the value to square, and the power value, 2.

Expressions using the ml namespace operator and the ml function can be used as
arguments for ml namespace operator and ml function expressions. The following
example nests ml expressions at three different levels:
a = ml.power(ml.sin(ml.X + ml('cos(Y)')),2)

In composing your ml expressions, follow the levels of precedence set out in Binary and
Bitwise Operations on page 11-19. Use parentheses around power expressions with the
^ operator when you use them in conjunction with other arithmetic operators.

Stateflow software checks expressions for data size mismatches in your actions during
parsing of charts and during run time. Because the return values for ml expressions are
not known until run time, Stateflow software must infer the size of their return values.
See How Charts Infer the Return Size for ml Expressions on page 11-45.

Which ml Should I Use?

In most cases, the notation of the ml namespace operator is more straightforward.
However, using the ml function call does offer a few advantages:

Use the ml function to dynamically construct workspace variables.

11-41
11 Use Actions in Charts

The following flow chart creates four new MATLAB matrices:

The for loop creates four new matrix variables in the MATLAB workspace. The
default transition initializes the Stateflow counter i to 0, while the transition
segment between the top two junctions increments it by 1. If i is less than 5, the
transition segment back to the top junction evaluates the ml function call ml('A%d =
rand(%d)',i,i) for the current value of i. When i is greater than or equal to 5, the
transition segment between the bottom two junctions occurs and execution stops.

The transition executes the following MATLAB commands, which create a workspace
scalar (A1) and three matrices (A2, A3, A4):

A1 = rand(1)
A2 = rand(2)
A3 = rand(3)
A4 = rand(4)
Use the ml function with full MATLAB notation.

You cannot use full MATLAB notation with the ml namespace operator, as the
following example shows:

ml.A = ml.magic(4)
B = ml('A + A''')

This example sets the workspace variable A to a magic 4-by-4 matrix using the ml
namespace operator. Stateflow data B is then set to the addition of A and its transpose

11-42
 Access Built-In MATLAB Functions and Workspace Data

matrix, A', which produces a symmetric matrix. Because the ml namespace operator
cannot evaluate the expression A', the ml function is used instead. However, you
can call the MATLAB function transpose with the ml namespace operator in the
following equivalent expression:

B = ml.A + ml.transpose(ml.A)

As another example, you cannot use arguments with cell arrays or subscript
expressions involving colons with the ml namespace operator. However, these can be
included in an ml function call.

ml Data Type
Stateflow data of type ml is typed internally with the MATLAB type mxArray for C
charts. You can assign (store) any type of data available in the Stateflow hierarchy to a
data of type ml. These types include any data type defined in the Stateflow hierarchy or
returned from the MATLAB workspace with the ml namespace operator or ml function.

Rules for Using ml Data Type

These rules apply to Stateflow data of type ml:

You can initialize ml data from the MATLAB workspace just like other data in the
Stateflow hierarchy (see Initialize Data from the MATLAB Base Workspace on page
8-25).
Any numerical scalar or array of ml data in the Stateflow hierarchy can participate in
any kind of unary operation and any kind of binary operation with any other data in
the hierarchy.

If ml data participates in any numerical operation with other data, the size of the ml
data must be inferred from the context in which it is used, just as return data from
the ml namespace operator and ml function are. See How Charts Infer the Return
Size for ml Expressions on page 11-45.

Note: The preceding rule does not apply to ml data storing MATLAB 64-bit integers.
You can use ml data to store 64-bit MATLAB integers but you cannot use 64-bit
integers in C charts.
You cannot define ml data with the scope Constant.

11-43
11 Use Actions in Charts

This option is disabled in the Data properties dialog box and in the Model Explorer for
Stateflow data of type ml.
You can use ml data to build a simulation target but not to build an embeddable code
generation target.
If data of type ml contains an array, you can access the elements of the array via
indexing with these rules:

a You can index only arrays with numerical elements.

b You can index numerical arrays only by their dimension.

In other words, you can access only one-dimensional arrays by a single index
value. You cannot access a multidimensional array with a single index value.
c The first index value for each dimension of an array is 1, and not 0, as in C
language arrays.

In the examples that follow, mldata is a Stateflow data of type ml, ws_num_array is
a 2-by-2 MATLAB workspace array with numerical values, and ws_str_array is a 2-
by-2 MATLAB workspace array with character vector values.
mldata = ml.ws_num_array; /* OK */
n21 = mldata[2][1]; /* OK for numerical data of type ml */
n21 = mldata[3]; /* NOT OK for 2-by-2 array data */
mldata = ml.ws_str_array; /* OK */
s21 = mldata[2][1]; /* NOT OK for character vector data of type ml*/
ml data cannot have a scope outside a C chart; that is, you cannot define the scope of
ml data as Input to Simulink or Output to Simulink.

Place Holder for Workspace Data

Both the ml namespace operator and the ml function can access data directly in the
MATLAB workspace and return it to a C chart. However, maintaining data in the
MATLAB workspace can present Stateflow users with conflicts with other data already
resident in the workspace. Consequently, with the ml data type, you can maintain ml
data in a chart and use it for MATLAB computations in C charts.

As an example, in the following statements, mldata1 and mldata2 are Stateflow data of
type ml:
mldata1 = ml.rand(3);
mldata2 = ml.transpose(mldata1);

11-44
 Access Built-In MATLAB Functions and Workspace Data

In the first line of this example, mldata1 receives the return value of the MATLAB
function rand, which, in this case, returns a 3-by-3 array of random numbers. Note that
mldata1 is not specified as an array or sized in any way. It can receive any MATLAB
workspace data or the return of any MATLAB function because it is defined as a
Stateflow data of type ml.

In the second line of the example, mldata2, also of Stateflow data type ml, receives
the transpose matrix of the matrix in mldata1. It is assigned the return value of the
MATLAB function transpose in which mldata1 is the argument.

Note the differences in notation if the preceding example were to use MATLAB
workspace data (wsdata1 and wsdata2) instead of Stateflow ml data to hold the
generated matrices:
ml.wsdata1 = ml.rand(3);
ml.wsdata2 = ml.transpose(ml.wsdata1);

In this case, each workspace data must be accessed through the ml namespace operator.

How Charts Infer the Return Size for ml Expressions

In C charts, Stateflow expressions using the ml namespace operator and the ml function
evaluate in the MATLAB workspace at run time. The actual size of the data returned
from the following expression types is known only at run time:

MATLAB workspace data or functions using the ml namespace operator or the ml

function call

For example, the size of the return values from the expressions ml.var, ml.func(),
or ml(evalString, arg1, arg2,...), where var is a MATLAB workspace
variable and func is a MATLAB function, cannot be known until run-time.
Stateflow data of type ml
Graphical functions that return Stateflow data of type ml

When these expressions appear in actions, Stateflow code generation creates temporary
data to hold intermediate returns for evaluation of the full expression of which they are
a part. Because the size of these return values is unknown until run time, Stateflow
software must employ context rules to infer the sizes for creation of the temporary data.

During run time, if the actual returned value from one of these commands differs from
the inferred size of the temporary variable that stores it, a size mismatch error appears.

11-45
11 Use Actions in Charts

To prevent run-time errors, use the following guidelines to write actions with MATLAB
commands or ml data:

Guideline Example
Return sizes of MATLAB commands or data in an In the expression ml.func() * (x
expression must match return sizes of peer expressions. + ml.y), if x is a 3-by-2 matrix, then
ml.func() and ml.y are also assumed
to evaluate to 3-by-2 matrices. If either
returns a value of different size (other
than a scalar), an error results during
run-time.
Expressions that return a scalar never produce an In the expression ml.x + y, if y is a 3-
error. by-2 matrix and ml.x returns a scalar,
the resulting value is the result of adding
You can combine matrices and scalars in larger the scalar value of ml.x to every member
expressions because MATLAB commands use scalar of y to produce a matrix with the size of
expansion. y, that is, a 3-by-2 matrix.

The same rule applies to subtraction (-),

multiplication (*), division (/), and any
other binary operations.
MATLAB commands or Arguments In the expression z + func(x + ml.y),
Stateflow data of type the size of ml.y is independent of the size
ml can be members of The expression of z, because ml.y is used at the function
these independent levels of for each function argument level. However, the return size
expression, for which resolution argument is a larger for func(x + ml.y) must match the
of return size is necessary: expression for which size of z, because they are both at the
the return size of same expression level.
MATLAB commands
or Stateflow data
of type ml must be
determined.
Array indices In the expression x + array[y], the
size of y is independent of the size of x
The expression for because y and x are at different levels of
an array index is an expression. Also, y must be a scalar.
independent level of
expression that must
be scalar in size.

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 Access Built-In MATLAB Functions and Workspace Data

Guideline Example
The return size for an indexed array element access The expression x[1][1], where x is a 3-
must be a scalar. by-2 array, must evaluate to a scalar.
MATLAB command or data elements used in an In the function call ml.func(x +
expression for the input argument of a MATLAB ml.y), if x is a 3-by-2 array, ml.y must
function called through the ml namespace operator are return a 3-by-2 array or a scalar.
resolved for size. This resolution uses the rule for peer
expressions (preceding rule 1) for the expression itself,
because no size definition prototype is available.
MATLAB command or data elements used for the input If the graphical function gfunc has the
argument for a graphical function in an expression are prototype gfunc(arg1), where arg1 is
resolved for size by the function prototype. a 2-by-3 Stateflow data array, the calling
expression, gfunc(ml.y + x), requires
that both ml.y and x evaluate to 2-by-3
arrays (or scalars) during run-time.
ml function calls can take only scalar or character In the expression a = ml('sin(x)'),
vector literal arguments. Any MATLAB command or the ml function calls the MATLAB
data that specifies an argument for the ml function function sin to evaluate the sine of x in
must return a scalar value. the MATLAB workspace. Stateflow data
variable a stores that result.
In an assignment, the size of the right-hand expression In the expression s = ml.func(x),
must match the size of the left-hand expression, with where x is a 3-by-2 matrix and s is
one exception. If the left-hand expression is a single scalar Stateflow data, ml.func(x)
MATLAB variable, such as ml.x, or Stateflow data of must return a scalar to match the left-
type ml, the right-hand expression determines the sizes hand expression, s. However, in the
of both expressions. expression ml.y = x + s, where x
is a 3-by-2 data array and s is scalar,
the left-hand expression, workspace
variable y, is assigned the size of a 3-by-2
array to match the size of the right-hand
expression, x+s, a 3-by-2 array.

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11 Use Actions in Charts

Guideline Example
In an assignment, Stateflow column vectors on the left- In the expression s = ml.func(),
hand side are compatible with MATLAB row or column where ml.func() returns a 1-by-3
vectors of the same size on the right-hand side. matrix, if s is a vector of size 3, the
assignment is valid.
A matrix you define with a row dimension of 1 is
considered a row vector. A matrix you define with
one dimension or with a column dimension of 1 is
considered a column vector.
If you cannot resolve the return size of MATLAB In the expression ml.x = ml.y + ml.z,
command or data elements in a larger expression by none of the preceding rules can be used
any of the preceding rules, they are assumed to return to infer a common size among ml.x,
scalar values. ml.y, and ml.z. In this case, both ml.y
and ml.z are assumed to return scalar
values. Even if ml.y and ml.z return
matching sizes at run-time, if they return
nonscalar values, a size mismatch error
results.
The preceding rules for resolving the size of member The expression x + ml.str, where
MATLAB commands or Stateflow data of type ml in a ml.str is a character vector workspace
larger expression apply only to cases in which numeric variable, produces a run-time error
values are expected for that member. For nonnumeric stating that ml.str is not a numeric
returns, a run-time error results. type.

Note: Member MATLAB commands or data of type ml

in a larger expression are limited to numeric values
(scalar or array) only if they participate in numeric
expressions.

Special cases exist, in which no size checking occurs to resolve the size of MATLAB
command or data expressions that are part of larger expressions. Use of the following
expressions does not require enforcement of size checking at run-time:

ml.var
ml.func()
ml(evalString, arg1, arg2,...)
Stateflow data of type ml

11-48
 Access Built-In MATLAB Functions and Workspace Data

Graphical function returning a Stateflow data of type ml

In these cases, assignment of a return to the left-hand side of an assignment statement

or a function argument occurs without checking for a size mismatch between the two:

An assignment in which the left-hand side is a MATLAB workspace variable

For example, in the expression ml.x = ml.y, ml.y is a MATLAB workspace variable
of any size and type (structure, cell array, character vector, and so on).
An assignment in which the left-hand side is a data of type ml

For example, in the expression m_x = ml.func(), m_x is a Stateflow data of type
ml.
Input arguments of a MATLAB function

For example, in the expression ml.func(m_x, ml.x, gfunc()), m_x is a Stateflow

data of type ml, ml.x is a MATLAB workspace variable of any size and type, and
gfunc() is a Stateflow graphical function that returns a Stateflow data of type ml.
Although size checking does not occur for the input type, if the passed-in data is not of
the expected type, an error results from the function call ml.func().
Arguments for a graphical function that are specified as Stateflow data of type ml in
its prototype statement

Note: If you replace the inputs in the preceding cases with non-MATLAB numeric
Stateflow data, conversion to an ml type occurs.

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11 Use Actions in Charts

Use Arrays in Actions

In this section...
Array Notation on page 11-50
Arrays and Custom Code on page 11-50

Array Notation
A Stateflow action in a C chart uses C style syntax and zero-based indexing by default
to access array elements. This syntax differs from MATLAB notation, which uses one-
based indexing. For example, suppose you define a Stateflow input A of size [3 4]. To
access the element in the first row, second column, use the expression A[0][1]. Other
examples of zero-based indexing in C charts include:

local_array[1][8][0] = 10;

local_array[i][j][k] = 77;

var = local_array[i][j][k];

Note: Use the same notation for accessing arrays in C charts, from Simulink models, and
from custom code.

As an exception to zero-based indexing, scalar expansion is available. This statement

assigns a value of 10 to all the elements of the array local_array.

local_array = 10;

Scalar expansion is available for performing general operations. This statement is valid if
the arrays array_1, array_2, and array_3 have the same value for the Sizes property.

array_1 = (3*array_2) + array_3;

Arrays and Custom Code

C charts provide the same syntax for Stateflow arrays and custom code arrays.

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 Use Arrays in Actions

Note: Any array variable that is referred to in a C chart but is not defined in the
Stateflow hierarchy is identified as a custom code variable.

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11 Use Actions in Charts

Broadcast Events to Synchronize States

In this section...
Directed Event Broadcasting on page 11-52
Directed Local Event Broadcast Using send on page 11-52
Directed Local Event Broadcast Using Qualified Event Names on page 11-53
Diagnostic for Detecting Undirected Local Event Broadcasts on page 11-55

Directed Event Broadcasting

You can broadcast events directly from one state to another to synchronize parallel
(AND) states in the same chart. The following rules apply:

The receiving state must be active during the event broadcast.

An action in one chart cannot broadcast events to states in another chart.

Using a directed local event broadcast provides the following benefits over an undirected
broadcast:

Prevents unwanted recursion during simulation.

Improves the efficiency of generated code.

For information about avoiding unwanted recursion, see Guidelines for Avoiding
Unwanted Recursion in a Chart on page 29-33.

Directed Local Event Broadcast Using send

The format of a directed local event broadcast with send is:
send(event_name,state_name)

where event_name is broadcast to state_name and any offspring of that state in the
hierarchy. The event you send must be visible to both the sending state and the receiving
state (state_name).

The state_name argument can include a full hierarchy path to the state. For example,
if the state A contains the state A1, send an event e to state A1 with the following
broadcast:
send(e, A.A1)

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 Broadcast Events to Synchronize States

Tip: Do not include the chart name in the full hierarchy path to a state.

The following example of a directed local event broadcast uses the

send(event_name,state_name) syntax.

In this example, event E_one belongs to the chart and is visible to both A and B. See
Directed Event Broadcast Using Send on page B-52 for more information on the
semantics of this notation.

Directed Local Event Broadcast Using Qualified Event Names

The format of a directed local event broadcast using qualified event names is:

send(state_name.event_name)

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11 Use Actions in Charts

where event_name is broadcast to its owning state (state_name) and any offspring
of that state in the hierarchy. The event you send is visible only to the receiving state
(state_name).

The state_name argument can also include a full hierarchy path to the receiving state.
Do not use the chart name in the full path name of the state.

The following example shows the use of a qualified event name in a directed local event
broadcast.

In this example, event E_one belongs to state B and is visible only to that state. See
Directed Event Broadcast Using Qualified Event Name on page B-53 for more
information on the semantics of this notation.

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 Broadcast Events to Synchronize States

Diagnostic for Detecting Undirected Local Event Broadcasts

If you have undirected local event broadcasts in state actions or condition actions in your
chart, a warning appears by default during simulation. Examples of state actions with
undirected local event broadcasts include:

entry: send(E1), where E1 is a local event in the chart

exit: E2, where E2 is a local event in the chart

You can control the level of diagnostic action for undirected local event broadcasts in the
Diagnostics > Stateflow pane of the Model Configuration Parameters dialog box. Set
the Undirected event broadcasts diagnostic to none, warning, or error. For more
information, see the documentation for the Undirected event broadcasts (Simulink)
diagnostic.

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11 Use Actions in Charts

Control Chart Execution Using Temporal Logic

In this section...
What Is Temporal Logic? on page 11-56
Rules for Using Temporal Logic Operators on page 11-56
Operators for Event-Based Temporal Logic on page 11-57
Examples of Event-Based Temporal Logic on page 11-59
Notations for Event-Based Temporal Logic on page 11-61
Operators for Absolute-Time Temporal Logic on page 11-63
Define Time Delays with Temporal Logic on page 11-64
Examples of Absolute-Time Temporal Logic on page 11-66
Run a Model That Uses Absolute-Time Temporal Logic on page 11-67
Absolute-Time Temporal Logic in Conditionally Executed Subsystems on page
11-67
How Sample Time Affects Chart Execution on page 11-70
Best Practices for Absolute-Time Temporal Logic on page 11-71

What Is Temporal Logic?

Temporal logic controls execution of a chart in terms of time. In state actions and
transitions, you can use two types of temporal logic: event-based and absolute-time.
Event-based temporal logic keeps track of recurring events, and absolute-time temporal
logic defines time periods based on the simulation time of your chart. To operate on these
recurring events or simulation time, you use built-in functions called temporal logic
operators.

Rules for Using Temporal Logic Operators

These rules apply to the use of temporal logic operators:

You can use any explicit or implicit event as a base event for a temporal operator. A
base event is a recurring event on which a temporal operator operates.
For a chart with no input events, you can use the tick or wakeup event to denote the
implicit event of a chart waking up.
Temporal logic operators can appear only in:

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 Control Chart Execution Using Temporal Logic

State actions
Transitions that originate from states
Transition segments that originate from junctions when the full transition path
connects two states

Note: This restriction means that you cannot use temporal logic operators in default
transitions or flow chart transitions.

Every temporal logic operator has an associated state: the state in which the action
appears or from which the transition originates.
You must use event notation (see Notations for Event-Based Temporal Logic on
page 11-61) to express event-based temporal logic in state actions.

Operators for Event-Based Temporal Logic

For event-based temporal logic, use the operators as described below.

Operator Syntax Description

after after(n, E) Returns true if the base event E
has occurred at least n times since
where E is the base event for the activation of the associated state.
after operator and n is one of the Otherwise, the operator returns
following: false.
A positive integer In a chart with no input events,
An expression that evaluates to a after(n, tick) or after(n,
positive integer value wakeup) returns true if the chart
has woken up n times or more since
activation of the associated state.

Resets the counter for E to 0

each time the associated state
reactivates.
before before(n, E) Returns true if the base event E has
occurred fewer than n times since
activation of the associated state.

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11 Use Actions in Charts

Operator Syntax Description

where E is the base event for the Otherwise, the operator returns
before operator and n is one of the false.
following:
In a chart with no input events,
A positive integer before(n, tick) or before(n,
An expression that evaluates to a wakeup) returns true if the chart
positive integer value has woken up fewer than n times
since activation of the associated
state.

Resets the counter for E to 0

each time the associated state
reactivates.
at at(n, E) Returns true only at the nth
occurrence of the base event E since
where E is the base event for the activation of the associated state.
at operator and n is one of the Otherwise, the operator returns
following: false.
A positive integer In a chart with no input events,
An expression that evaluates to a at(n, tick) or at(n, wakeup)
positive integer value returns true if the chart has woken
up for the nth time since activation of
the associated state.

Resets the counter for E to 0

each time the associated state
reactivates.

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 Control Chart Execution Using Temporal Logic

Operator Syntax Description

every every(n, E) Returns true at every nth occurrence
of the base event E since activation
where E is the base event for the of the associated state. Otherwise,
every operator and n is one of the the operator returns false.
following:
In a chart with no input events,
A positive integer every(n, tick) or every(n,
An expression that evaluates to a wakeup) returns true if the chart
positive integer value has woken up an integer multiple
n times since activation of the
associated state.

Resets the counter for E to 0

each time the associated state
reactivates. Therefore, this operator
is useful only in state actions and
not in transitions.
temporalCount temporalCount(E) Increments by 1 and returns a
positive integer value for each
where E is the base event for the occurrence of the base event E that
temporalCount operator. takes place after activation of the
associated state. Otherwise, the
operator returns a value of 0.

Resets the counter for E to 0

each time the associated state
reactivates.

Examples of Event-Based Temporal Logic

These examples illustrate usage of event-based temporal logic in state actions and
transitions.

Operator Usage Example Description

after State action on after(5, CLK): status('on'); A status message
appears during each
(on after) CLK cycle, starting

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11 Use Actions in Charts

Operator Usage Example Description

5 clock cycles after
activation of the state.
after Transition ROTATE[after(10, CLK)] A transition out of the
associated state occurs
only on broadcast of
a ROTATE event, but
no sooner than 10 CLK
cycles after activation
of the state.
before State action on before(MAX, CLK): temp++; The temp variable
increments once per
(on before) CLK cycle until the
state reaches the MAX
limit.
before Transition ROTATE[before(10, CLK)] A transition out of the
associated state occurs
only on broadcast of
a ROTATE event, but
no later than 10 CLK
cycles after activation
of the state.
at State action on at(10, CLK): status('on'); A status message
appears at exactly
(on at) 10 CLK cycles after
activation of the state.
at Transition ROTATE[at(10, CLK)] A transition out of the
associated state occurs
only on broadcast of
a ROTATE event, at
exactly 10 CLK cycles
after activation of the
state.
every State action on every(5, CLK): status('on'); A status message
appears every 5 CLK
(on every) cycles after activation
of the state.

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 Control Chart Execution Using Temporal Logic

Operator Usage Example Description

temporalCount State action du: y = mm[temporalCount(tick)]; This action counts and
returns the integer
(during) number of ticks that
have elapsed since
activation of the state.
Then, the action
assigns to the variable
y the value of the mm
array whose index
is the value that the
temporalCount
operator returns.

Notations for Event-Based Temporal Logic

You can use one of two notations to express event-based temporal logic.

Event Notation

Use event notation to define a state action or a transition condition that depends only on
a base event.

Event notation follows this syntax:

tlo(n, E)[C]

where

tlo is a Boolean temporal logic operator (after, before, at, or every)

n is the occurrence count of the operator
E is the base event of the operator
C is an optional condition expression

Conditional Notation

Use conditional notation to define a transition condition that depends on base and
nonbase events.

Conditional notation follows this syntax:

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11 Use Actions in Charts

E1[tlo(n, E2) && C]

where

E1 is any nonbase event

tlo is a Boolean temporal logic operator (after, before, at, or every)
n is the occurrence count of the operator
E2 is the base event of the operator
C is an optional condition expression

Examples of Event and Conditional Notation

Notation Usage Example Description

Event State action on after(5, CLK): temp = WARM; The temp variable
becomes WARM 5 CLK
(on after) cycles after activation
of the state.
Event Transition after(10, CLK)[temp == COLD] A transition out of the
associated state occurs
if the temp variable is
COLD, but no sooner
than 10 CLK cycles
after activation of the
state.
Conditional Transition ON[after(5, CLK) && temp == A transition out of the
COLD] associated state occurs
only on broadcast of
an ON event, but no
sooner than 5 CLK
cycles after activation
of the state and only
if the temp variable is
COLD.

Note: You must use event notation in state actions, because the syntax of state actions
does not support the use of conditional notation.

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 Control Chart Execution Using Temporal Logic

Operators for Absolute-Time Temporal Logic

For absolute-time temporal logic, use the operators as described below.

Operator Syntax Description

after after(n, sec) Returns true if n specified seconds
(sec), milliseconds (msec), or
after(n, msec) microseconds (usec) of simulation
time have elapsed since activation of
after(n, usec) the associated state. Otherwise, the
operator returns false.
n is any positive number or
expression. sec, msec, and usec are Resets the counter for sec, msec,
keywords that denote the simulation and usec to 0 each time the
time elapsed since activation of the associated state reactivates.
associated state.
before before(n, sec) Returns true if fewer than n
specified seconds (sec), milliseconds
before(n, msec) (msec), or microseconds (usec) of
simulation time have elapsed since
before(n, usec) activation of the associated state.
Otherwise, the operator returns
n is any positive number or
false.
expression. sec, msec, and usec are
keywords that denote the simulation Resets the counter for sec, msec,
time elapsed since activation of the and usec to 0 each time the
associated state. associated state reactivates.
temporalCount temporalCount(sec) Counts and returns the number of
specified seconds (sec), milliseconds
temporalCount(msec) (msec), or microseconds (usec) of
simulation time that have elapsed
temporalCount(usec) since activation of the associated
state.
sec, msec, and usec are keywords
that denote the simulation time Resets the counter for sec, msec
elapsed since activation of the and usec to 0 each time the
associated state. associated state reactivates.
elapsed elapsed(sec) Returns the simulation time in
seconds (sec) that has elapsed since

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Operator Syntax Description

the activation of the associated
state.

Resets the counter for sec to 0

each time the associated state
reactivates.
duration duration(C) Returns the number of seconds
after the conditional expression,
C, becomes true. If the duration
operator is used within a state, it is
reset when the state that contains it
is entered. If the duration operator
is used on a transition, it is reset
when the source state for that
transition is entered.

Define Time Delays with Temporal Logic

Use one of the keywords sec , msec, or usec to define simulation time in seconds,
milliseconds, or microseconds that have elapsed since activation of a state. These
keywords are valid only in state actions and in transitions that originate from states.

Example of Defining Time Delays

The following continuous-time chart defines two absolute time delays in transitions.

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 Control Chart Execution Using Temporal Logic

Chart execution occurs as follows:

1 When the chart awakens, the state Input activates first.

2 After 5.33 milliseconds of simulation time, the transition from Input to Output
occurs.
3 The state Input deactivates, and then the state Output activates.
4 After 10.5 seconds of simulation time, the transition from Output to Input occurs.
5 The state Output deactivates, and then the state Input activates.
6 Steps 2 through 5 are repeated, until the simulation ends.

Example of Detecting Elapsed Time

In the following model, the Step block provides a unit step input to the chart.

The chart determines when the input u equals 1.

If the input equals 1... A transition occurs from...

Before t = 2 Start to Fast
Between t = 2 and t = 5 Start to Good

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11 Use Actions in Charts

If the input equals 1... A transition occurs from...

After t = 5 Start to Slow

Advantages of Using Absolute-Time Temporal Logic for Delays

Use absolute-time temporal logic instead of the implicit tick event for these reasons:

Delay expressions that use absolute-time temporal logic are independent of the
sample time of the model. However, the tick event is dependent on sample time.
Absolute-time temporal logic works in charts that have function-call input events. The
tick event does not work in charts with function-call inputs.
Absolute-time temporal logic supports seconds (sec), milliseconds (msec) and
microseconds (usec) syntax for the before and after operators.

Examples of Absolute-Time Temporal Logic

These examples illustrate absolute-time temporal logic in state actions and transitions.

Operator Usage Example Description

after State action on after(12.3, sec): temp = LOW; After 12.3 seconds of
simulation time since
(on after) activation of the state,
temp variable becomes
LOW .
after Transition after(8, msec) After 8 milliseconds
of simulation time
have passed since
activation of the state,
a transition out of
the associated state
occurs.
after Transition after(5, usec) After 5 microseconds
of simulation time
have passed since
activation of the state,
a transition out of

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 Control Chart Execution Using Temporal Logic

Operator Usage Example Description

the associated state
occurs.
before Transition [temp > 75 && before(12.34, If the variable temp
sec)] exceeds 75 and fewer
than 12.34 seconds
have elapsed since
activation of the state,
a transition out of
the associated state
occurs.
temporalCount State action ex: y = temporalCount(sec); This action counts and
returns the number of
(exit) seconds of simulation
time that pass
between activation
and deactivation of the
state.

Run a Model That Uses Absolute-Time Temporal Logic

The sf_boiler model shows the use of absolute-time temporal logic to implement a
bang-bang controller. To run the model:

1 Type sf_boiler at the MATLAB command prompt.

2 Start simulation of the model.

Absolute-Time Temporal Logic in Conditionally Executed Subsystems

You can use absolute-time temporal logic in a chart that resides in a conditionally
executed subsystem. When the subsystem is disabled, the chart becomes inactive and the
temporal logic operator pauses while the chart is asleep. The operator does not continue
to count simulation time until the subsystem is reenabled and the chart is awake.

Model with Absolute-Time Temporal Logic in an Enabled Subsystem

Suppose that your model has an enabled subsystem that contains a chart with the after
operator. In the subsystem, the States when enabling parameter is set to held.

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11 Use Actions in Charts

Model with Enabled Subsystem Chart in Enabled Subsystem

The Signal Builder block provides the following input signal to the subsystem.

Signal Signal Signal

enables disables reenables
subsystem subsystem subsystem
at t = 0 at t = 2 at t = 6

State A is enabled

The total time elapsed in an enabled state (both A and B) is as follows.

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 Control Chart Execution Using Temporal Logic

At t = 12, time
elapsed in
state B totals
3 seconds

At t = 9, time
elapsed in
state A totals
5 seconds

Subsystem
is disabled Time elapsed
freezes when
state A is
disabled

When the input signal enables the subsystem at time t = 0, the state A becomes active,
or enabled. While the state is active, the time elapsed increases. However, when the
subsystem is disabled at t = 2, the chart goes to sleep and state A becomes inactive.

For 2 < t < 6, the time elapsed in an enabled state stays frozen at 2 seconds because
neither state is active. When the chart wakes up at t = 6, state A becomes active again
and time elapsed starts to increase. The transition from state A to state B depends on the
time elapsed while state A is enabled, not on the simulation time. Therefore, state A stays
active until t = 9, so that the time elapsed in that state totals 5 seconds.

When the transition from A to B occurs at t = 9, the output value y changes from 0 to 1.

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This model behavior applies only to subsystems where you set the Enable block
parameter States when enabling to held. If you set the parameter to reset, the
chart reinitializes completely when the subsystem is reenabled. In other words, default
transitions execute and any temporal logic counters reset to 0.

Note: These semantics also apply to the before operator.

How Sample Time Affects Chart Execution

If a chart has a discrete sample time, any action in the chart occurs at integer multiples
of this sample time.

Suppose you have a chart with a discrete sample time of 0.1 seconds:

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 Control Chart Execution Using Temporal Logic

State A becomes active at time t = 0, and the transition to state B occurs at t = 2.2
seconds. This behavior applies because the Simulink solver does not wake the chart at
exactly t = 2.15 seconds. Instead, the solver wakes the chart at integer multiples of 0.1
seconds, such as t = 2.1 and 2.2 seconds.

Note: This behavior also applies to the before operator.

Best Practices for Absolute-Time Temporal Logic

Use the after Operator to Replace the at Operator

If you use the at operator with absolute-time temporal logic, an error message appears
when you try to simulate your model. Use the after operator instead.

Suppose that you want to define a time delay using the transition at(5.33, sec).

Change the transition to after(5.33, sec), as shown below.

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Use an Outer Self-Loop Transition with the after Operator to Replace the every Operator

If you use the every operator with absolute-time temporal logic, an error message
appears when you try to simulate your model. Use an outer self-loop transition with the
after operator instead.

Suppose that you want to print a status message for an active state every 2.5 seconds
during chart execution, as shown in the state action of Check_status.

Replace the state action with an outer self-loop transition, as shown below.

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 Control Chart Execution Using Temporal Logic

You must also add a history junction in the state so that the chart remembers the state
settings prior to each self-loop transition. (See Record State Activity Using History
Junctions on page 7-2.)

Use Charts with Discrete Sample Times for More Efficient Code Generation

The code generated for discrete charts that are not inside a triggered or enabled
subsystem uses integer counters to track time instead of Simulink provided time. This
allows for more efficient code generation in terms of overhead and memory, as well as
enabling this code for use in Software-in-the-Loop(SIL) and Processor-in-the-Loop(PIL)
simulation modes. For more information, see SIL and PIL Simulations (Embedded
Coder).

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Detect Changes in Data Values

In this section...
Types of Data Value Changes That You Can Detect on page 11-74
Run a Model That Uses Change Detection on page 11-75
How Change Detection Works on page 11-76
Change Detection Operators on page 11-79
Chart with Change Detection on page 11-84

Types of Data Value Changes That You Can Detect

You can detect changes in Stateflow data from one time step to the next time step. All
charts can detect changes on chart input data. C charts can also detect changes in chart
output data, local chart variables, machine-parented variables, and data store memory
data.

For each of these types of data, you can use operators that detect the following changes.

Type of Change Operator

Data changes value from the beginning of See hasChanged Operator on page
the last time step to the beginning of the 11-80.
current time step.
Data changes from a specified value at See hasChangedFrom Operator on page
the beginning of the last time step to a 11-81.
different value at the beginning of the
current time step.
Data changes to a specified value at the See hasChangedTo Operator on page
beginning of the current time step from a 11-82.
different value at the beginning of the last
time step.

Change detection operators return 1 if the data value changes or 0 if there is no change.
See Change Detection Operators on page 11-79.

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 Detect Changes in Data Values

Run a Model That Uses Change Detection

Stateflow software ships with a model sf_tetris2 that shows how you can detect
asynchronous changes in inputs in this case, user keystrokes to manipulate a Tetris
shape as it moves through the playing field. The chart TetrisLogic implements this logic:

TetrisLogic contains a subchart called Moving that calls the operator hasChanged to
determine when users press any of the Tetris control keys, and then moves the shape
accordingly. Here is a look inside the subchart:

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11 Use Actions in Charts

To run the model, follow these steps:

1 Open the model by typing sf_tetris2 at the MATLAB prompt.

2 Start simulation.

How Change Detection Works

A chart detects changes in chart data by evaluating values at time step boundaries. That
is, the chart compares the value at the beginning of the previous execution step with
the value at the beginning of the current execution step. To detect changes, the chart
automatically double-buffers these values in local variables, as follows:

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 Detect Changes in Data Values

Local Buffer: Stores:

var_name_prev Value of data at the beginning of the last time
step
var_name_start Value of data at the beginning of the current time
step

Note: Double-buffering occurs once per time step except if multiple input events occur
in the same time step. Then, double-buffering occurs once per input event (see Handle
Changes When Multiple Input Events Occur on page 11-79).

When you invoke change detection operations in an action, Stateflow software performs
the following operations:

1 Double-buffers data values after a Simulink event triggers the chart, but before the
chart begins execution.
2 Compares values in _prev and _start buffers. If the values match, the change
detection operator returns 0 (no change); otherwise, it returns 1 (change).

The following diagram places these tasks in the context of the chart life cycle:

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event_n
event_2 ... KEY:
X prev
Value of data
Simulink at beginning of
event triggers last time step
Stateflow
chart X start
Value of data
Stateflow software at beginning of
double-buffers data current time step

X prev = X start X Value of data

at end of
X start = X current time step
Is
chart
Yes active?

No

Make
chart
active

Initialize chart
by executing
default
transition
paths

Chart
executes hasChanged (x)
active children compares
hierarchically X prev and X start
in top-down
order

Chart goes
to sleep
until next
11-78 event
 Detect Changes in Data Values

The fact that buffering occurs before chart execution has implications for change
detection in the following scenarios:

Handle Transient Changes in Local Variables on page 11-79

Handle Changes When Multiple Input Events Occur on page 11-79

Handle Transient Changes in Local Variables

Stateflow software attempts to filter out transient changes in local chart variables by
evaluating their values only at time boundaries (see How Change Detection Works
on page 11-76). This behavior means that the software evaluates the specified local
variable only once at the end of the execution step and, therefore, returns a consistent
result. That is, the return value remains constant even if the value of the local variable
fluctuates within a given time step.

For example, suppose that in the current time step a local variable temp changes from
its value at the previous time step, but then reverts to the original value. In this case, the
operator hasChanged(temp) returns 0 for the next time step, indicating that no change
occurred. For more information, see Change Detection Operators on page 11-79.

Handle Changes When Multiple Input Events Occur

When multiple input events occur in the same time step, Stateflow software updates the
_prev and _start buffers once per event. In this way, a chart detects changes between
input events, even if the changes occur more than once in a given time step.

Change Detection Operators

All charts can use change detection operators to check for changes in chart inputs.
C charts can also use change detection operators on outputs, local variables, and in
Stateflow data that is bound to Simulink data store memory.

You can invoke change detection operators wherever you call built-in functions in a chart
in state actions, transition actions, condition actions, and conditions. There are three
change detection operators:

hasChanged Operator on page 11-80

hasChangedFrom Operator on page 11-81
hasChangedTo Operator on page 11-82

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hasChanged Operator
The hasChanged operator detects any change in Stateflow data since the last time step,
using the following heuristic:

1 if xprev xstart
hasChanged( x) =
0 otherwise,

where xstart represents the value at the beginning of the current time step and xprev
represents the value at the beginning of the previous time step.
Syntax
hasChanged ( u )

C charts can also use:

hasChanged ( m [ expr ] )
hasChanged ( s [ expr ] )

where u is a scalar or matrix variable, m is a matrix, and s is a structure.

The arguments u, m, and s must be one of the following data types:

Input in a MATLAB chart

Input, output, or local variable in a C chart

Note: If you enable the chart option Initialize Outputs Every Time Chart Wakes
Up, do not use an output as the argument of the hasChanged operator. With this
option enabled, the hasChanged operator always returns 0 (or false), so there is no
reason to use change detection.
Stateflow data in a C chart that is bound to Simulink data store memory

The arguments cannot be expressions or custom code variables.

Description

hasChanged ( u ) returns 1 if u changes value since the last time step. If u is a

matrix, hasChanged returns 1 if any element of u changes value since the last time step.

hasChanged ( m [ expr ] ) returns 1 if the value at location expr of matrix

m changes value since the last time step. expr can be an arbitrary expression that
evaluates to a scalar value.

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 Detect Changes in Data Values

hasChanged ( s [ expr ] ) returns 1 if the value at location expr of structure

s has changed since the last time step. s must be a fully qualified name, such as
u.foo.bar, which resolves to a structure. expr can be an arbitrary expression that
evaluates to a scalar value.

All forms of hasChanged return zero if a chart writes to the data, but does not change its
value.

hasChangedFrom Operator

The hasChangedFrom operator detects when Stateflow data changes from a specified
value since the last time step, using the following heuristic:

1 if xprev xstart and xprev = x0

hasChangedFrom( x, x0 ) =
0 otherwi se,

where xstart represents the value at the beginning of the current time step and xprev
represents the value at the beginning of the previous time step.
Syntax

hasChangedFrom ( u , v )

C charts can also use:

hasChangedFrom ( m [ expr ], v )
hasChangedFrom ( s [ expr ], v )

where u is a scalar or matrix variable, m is a matrix, and s is a structure.

The arguments u, m, and s must be one of the following data types:

Input in a MATLAB chart

Input, output, or local variable in a C chart

Note: If you enable the chart option Initialize Outputs Every Time Chart Wakes
Up, do not use an output as the argument of the hasChanged operator. With this
option enabled, the hasChanged operator always returns 0 (or false), so there is no
reason to use change detection.
Stateflow data in a C chart that is bound to Simulink data store memory

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11 Use Actions in Charts

Note: The first arguments u, m, and s cannot be expressions or custom code variables.
The second argument v can be an expression. However, if the first argument is a
matrix variable, then v must resolve to a scalar value or a matrix value with the same
dimensions as the first argument.

Description

hasChangedFrom ( u, v ) returns 1 if u changes from the value specified by v since

the last time step. If u is a matrix variable whose elements all equal the value specified
by v, hasChangedFrom returns 1 if one or more elements of the matrix changes to a
different value in the current time step.

hasChangedFrom ( m [ expr ], v) returns 1 if the value at location expr of matrix

m changes from the value specified by v since the last time step. expr can be an arbitrary
expression that evaluates to a scalar value.

hasChangedFrom ( s [ expr ], v) returns 1 if the value at location expr of

structure s changes from the value specified by v since the last time step. s must be a
fully qualified name, such as u.foo.bar, which resolves to a structure. expr can be an
arbitrary expression that evaluates to a scalar value.

hasChangedTo Operator

The hasChangedTo operator detects when Stateflow data changes to a specified value
since the last time step, using the following heuristic:

1 if xprev xstart and xstart = x0

hasChangedTo( x, x0 ) =
0 otherwise,

where xstart represents the value at the beginning of the current time step and xprev
represents the value at the beginning of the previous time step.
Syntax

hasChangedTo ( u , v )

C charts can also use:

hasChangedTo ( m [ expr ], v )
hasChangedTo ( s [ expr ], v )

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 Detect Changes in Data Values

where u is a scalar or matrix variable, m is a matrix, and s is a structure.

Note: Charts that use MATLAB as the action language can only use scalar variables.

The arguments u, m, and s must be one of the following data types:

Input in a MATLAB chart

Input, output, or local variable in a C chart

Note: If you enable the chart option Initialize Outputs Every Time Chart Wakes
Up, do not use an output as the argument of the hasChanged operator. With this
option enabled, the hasChanged operator always returns 0 (or false), so there is no
reason to use change detection.
Stateflow data in a C chart that is bound to Simulink data store memory

Note: The first arguments u, m, and s cannot be expressions or custom code variables.
The second argument v can be an expression. However, if the first argument is a matrix
variable, then v must resolve to either a scalar value or a matrix value with the same
dimensions as the first argument.

Description

hasChangedTo ( u, v ) returns 1 if u changes to the value specified by v in the

current time step. If u is a matrix variable, hasChangedTo returns 1 if any its of its
elements changes value so that all elements of the matrix equal the value specified by v
in the current time step.

hasChangedTo ( m [ expr ], v) returns 1 if the value at location expr of matrix

m changes to the value specified by v in the current time step. expr can be an arbitrary
expression that evaluates to a scalar value.

hasChangedTo ( s [ expr ], v) returns 1 if the value at location expr of structure

s changes to the value specified by v in the current time step. s must be a fully qualified
name, such as u.foo.bar, which resolves to a structure. expr can be an arbitrary
expression that evaluates to a scalar value.

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11 Use Actions in Charts

Chart with Change Detection

The following model shows how to use the hasChanged, hasChangedFrom, and
hasChangedTo operators to detect specific changes in an input signal. In this example, a
Ramp block sends a discrete, increasing time signal to a chart:

The model uses a fixed-step solver with a step size of 1. The signal increments by 1 at
each time step. The chart analyzes the input signal for the following changes at each
time step:

Any change from the previous time step

Change to the value 3
Change from the value 3

To check the signal, the chart calls three change detection operators in a transition
action, and outputs the return values as y1, y2, and y3, as follows:

During simulation, the outputs y1, y2, and y3 are shown in this scope.

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 Detect Changes in Data Values

The ramp input signal u is represented in green, and the y1, y2, and y3 values are
represented as yellow, blue, and red respectively. y1 transitions at T1, and stays at a
value of 1 because u continues to increase each time step. y3 transitions at T3 when the
value of u has reached 3, but then transitions back to 0 at T4 when u increases from 3 to
4. y2 transitions to 1 at T4 when u changes from 3 to 4, and then transitions back to 0 at
T5 when u increases from 4 to 5.

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11 Use Actions in Charts

Check State Activity

In this section...
When to Check State Activity on page 11-86
How to Check State Activity on page 11-86
The in Operator on page 11-86
How Checking State Activity Works on page 11-87
State Resolution for Identically Named Substates on page 11-89
Best Practices for Checking State Activity on page 11-91

When to Check State Activity

Check state activity when you have substates in parallel states that can be active at the
same time. For example, checking state activity helps you synchronize substates in two
parallel states.

How to Check State Activity

Use the in operator to check if a state is active. You can use this operator in state actions
and transitions that originate from states.

The in Operator
Purpose

Checks if a state is active in a given time step during chart execution.

Syntax
in(S)

where S is a fully qualified state name.

Description

The in operator is true and returns a value of 1 whenever state S is active; otherwise, it
returns a value of 0.

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 Check State Activity

Example

This example illustrates the use of the in operator in transition conditions.

In this chart, using the in operator to check state activity synchronizes substates in the
parallel states Place and Tracker. For example, when the input position u becomes
positive, the state transition from Place.L to Place.R occurs. This transition makes
the condition [in(Place.R)] true, and the transition from Tracker.Moved_Left to
Tracker.Moved_Right occurs.

How Checking State Activity Works

Checking state activity is a two-stage process. First, the in operator must find the
desired state. Then, the operator determines if the desired state is active.

The in operator does not perform an exhaustive search for all states in a chart that
can match the argument. It performs a localized search and stops.
The in operator does not stop searching after it finds one match. It continues to
search until it reaches the chart level.

This diagram shows the detailed process of checking state activity.

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11 Use Actions in Charts

Display an
error
message.

11-88
 Check State Activity

When you use the in operator to check state activity, these actions take place:

1 The search begins in the state where you use the in operator.

If you use the in operator in a state action, then that state is the starting point.
If you use the in operator in a transition label, then the parent of the source state
is the starting point.
2 The in operator searches at that level of the hierarchy for a path to a state that
matches the desired state. If the operator finds a match, it adds that state to the list
of possible matches.
3 The operator moves up to the next highest level of the hierarchy. At that level, the
operator searches for a path to a state that matches the desired state. If the operator
finds a match, it adds that state to the list of possible matches.
4 The in operator repeats the previous step until it reaches the chart level.
5 At the chart level, the operator searches for a path to a state that matches the
desired state. If the operator finds a match, it adds that state to the list of possible
matches. Then, the search ends.
6 After the search ends, one of the following occurs:

If a unique search result is found, the in operator checks if that state is active
and returns a value of 0 or 1.
If the operator finds no matches or multiple matches for the desired state, an
error message appears.

State Resolution for Identically Named Substates

For identically named substates in parallel superstates, the scope of the in operator
remains local with respect to its chart-level superstate. When the in operator checks
activity of a substate, it does not automatically detect an identically named substate that
resides in a parallel superstate.

This example shows how the in operator works in a chart with identically named
substates.

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11 Use Actions in Charts

Superstates A and B have identical substates A1 and A2.

The condition in(A1.Y) guards the transition from P to Q in the states A.A2 and
B.A2.
For the state A.A2, the condition in(A1.Y) refers to the state A.A1.Y.
For the state B.A2, the condition in(A1.Y) refers to the state B.A1.Y.

For the transition condition of A.A2, the in operator performs these search actions:

Step Action of the in Operator Finds a Match?

1 Picks A.A2 as the starting point and No
searches for the state A.A2.A1.Y
2 Moves up to the next level of the hierarchy Yes
and searches for the state A.A1.Y
3 Moves up to the chart level and searches for No
the state A1.Y

The search ends, with the single state A.A1.Y found. The in operator checks if that state
is active and returns a value of 0 or 1.

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 Check State Activity

Localizing the scope of the in operator produces a unique search result. For example,
the in operator of A.A2 does not detect the state B.A1.Y, because the search algorithm
localizes the scope of the operator. Similarly, the in operator of B.A2 detects only the
state B.A1.Y and does not detect the state A.A1.Y.

Best Practices for Checking State Activity

Use a Specific Search Path

Be specific when defining the path of the state whose activity you want to check. See the
examples that follow for details.
Example of No States Matching the Argument of the in Operator

In the state A.B, the during action invokes the in operator. Assume that you want to
check the activity of the state A.B.Other.C.D. The in operator performs these search
actions:

Step Action of the in Operator Finds a Match?

1 Picks A.B as the starting point and searches No
for the state A.B.C.D
2 Moves up to the next level of the hierarchy No
and searches for the state A.C.D
3 Moves up to the chart level and searches for No
the state C.D

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11 Use Actions in Charts

The search ends, and an error appears because no match exists.

To eliminate the error, use a more specific path to check state activity: in(Other.C.D).
Example of the Wrong State Matching the Argument of the in Operator

In the state A.B, the during action invokes the in operator. Assume that you want to
check the activity of the state A.B.Other.Q.R. The in operator performs these search
actions:

Step Action of the in Operator Finds a Match?

1 Picks A.B as the starting point and searches No
for the state A.B.Q.R
2 Moves up to the next level of the hierarchy No
and searches for the state A.Q.R
3 Moves up to the chart level and searches for Yes
the state Q.R

The search ends, with the single state Q.R found. The in operator checks if that state is
active and returns a value of 0 or 1.

In this example, the in operator checks the status of the wrong state. To prevent this
error, use a more specific path to check state activity: in(Other.Q.R).

Use Unique State Names

Use unique names when you name the states in a chart.

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 Check State Activity

Example of Multiple States Matching the Argument of the in Operator

In the state A.B, the during action invokes the in operator. Assume that you want
to check the activity of the state A.B.P.Q.R. The in operator performs these search
actions:

Step Action of the in Operator Finds a Match?

1 Picks A.B as the starting point and searches Yes
for the state A.B.P.Q.R
2 Moves up to the next level of the hierarchy No
and searches for the state A.P.Q.R
3 Moves up to the chart level and searches for Yes
the state P.Q.R

The search ends, and an error appears because multiple matches exist.

To eliminate the error, perform one of these corrective actions:

Rename one of the matching states.

Use a more specific path to the desired state: in(B.P.Q.R).
Enclose the outer state P.Q.R in a box or another state, as shown below.

Adding an enclosure prevents the in operator of state A.B from detecting that outer
state.

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11-94
 Control Function-Call Subsystems Using Bind Actions

Control Function-Call Subsystems Using Bind Actions

In this section...
What Are Bind Actions? on page 11-95
Bind a Function-Call Subsystem to a State on page 11-95
Model That Binds a Function-Call Subsystem to a State on page 11-100
Behavior of a Bound Function-Call Subsystem on page 11-103
Why Avoid Muxed Trigger Events with Binding on page 11-110

What Are Bind Actions?

Bind actions in a state bind specified data and events to that state. Events bound to
a state can be broadcast only by the actions in that state or its children. You can also
bind a function-call event to a state to enable or disable the function-call subsystem that
the event triggers. The function-call subsystem enables when the state with the bound
event is entered and disables when that state is exited. Execution of the function-call
subsystem is fully bound to the activity of the state that calls it.

Bind a Function-Call Subsystem to a State

By default, a function-call subsystem is controlled by the chart in which the associated
function call output event is defined. This association means that the function-call
subsystem is enabled when the chart wakes up and remains active until the chart goes to
sleep. To achieve a finer level of control, you can bind a function-call subsystem to a state
within the chart hierarchy by using a bind action (see Bind Actions on page 11-5).

Bind actions can bind function-call output events to a state. When you create this type of
binding, the function-call subsystem that is called by the event is also bound to the state.
In this situation, the function-call subsystem is enabled when the state is entered and
disabled when the state is exited.

When you bind a function-call subsystem to a state, you can fine-tune the behavior of the
subsystem when it is enabled and disabled, as described in the following sections:

Handle Outputs When the Subsystem is Disabled on page 11-96

Control Behavior of States When the Subsystem is Enabled on page 11-98

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11 Use Actions in Charts

Handle Outputs When the Subsystem is Disabled

Although function-call subsystems do not execute while disabled, their output signals are
available to other blocks in the model. If a function-call subsystem is bound to a state,
you can hold its outputs at their values from the previous time step or reset the outputs
to their initial values when the subsystem is disabled. Follow these steps:

1 Double-click the outport block of the subsystem to open the Block Parameters dialog
box.

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 Control Function-Call Subsystems Using Bind Actions

2 Select an option for Output when disabled:

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11 Use Actions in Charts

Select: To:
held Maintain most recent output value
reset Reset output to its initial value
3 Click OK to record the settings.

Note: Setting Output when disabled is meaningful only when the function-call
subsystem is bound to a state, as described in Bind a Function-Call Subsystem to a
State on page 11-95.

Control Behavior of States When the Subsystem is Enabled

If a function-call subsystem is bound to a state, you can hold the subsystem state
variables at their values from the previous time step or reset the state variables to their
initial conditions when the subsystem executes. In this way, the binding state gains full
control of state variables for the function-call subsystem. Follow these steps:

1 Double-click the trigger port of the subsystem to open the Block Parameters dialog
box.

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 Control Function-Call Subsystems Using Bind Actions

2 Select an option for States when enabling:

Select: To:
held Maintain most recent values of the states of the subsystem
that contains the trigger port

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11 Use Actions in Charts

Select: To:
reset Revert to the initial conditions of the states of the subsystem
that contains this trigger port
inherit Inherit this setting from the function-call initiator's parent
subsystem. If the parent of the initiator is the model root, the
inherited setting is held. If the trigger has multiple initiators,
the parents of all initiators must have the same setting: either
all held or all reset.
3 Click OK to record the settings.

Note: Setting States when enabling is meaningful only when the function-call
subsystem is bound to a state, as described in Bind a Function-Call Subsystem to a
State on page 11-95.

Model That Binds a Function-Call Subsystem to a State

The following model triggers a function-call subsystem with a trigger event E that binds
to state A of a chart:

This model specifies a fixed-step solver with a fixed-step size of 1 in the Solver pane of
the Model Configuration Parameters dialog box.

The chart contains two states, A and B, and connecting transitions, along with some
actions:

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 Control Function-Call Subsystems Using Bind Actions

Event E binds to state A with the action bind:E. Event E is defined for the chart with a
scope of Output to Simulink and a trigger type of function-call.

The function-call subsystem contains a trigger port block, an input port, an output port,
and a simple block diagram. The block diagram increments a counter by 1 at each time
step, using a Unit Delay block:

The Block Parameters dialog box for the trigger port appears as follows.

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The States when enabling parameter uses the setting reset. This setting resets the
state values for the function-call subsystem to zero when it is enabled.

The Sample time type parameter uses the setting triggered. This setting sets the
function-call subsystem to execute only when it is triggered by a calling event while it is
enabled.

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 Control Function-Call Subsystems Using Bind Actions

Setting Sample time type to periodic enables the Sample time field below it, which
defaults to 1. These settings force the function-call subsystem to execute for each time
step specified in the Sample time field while it is enabled. To accomplish this, the state
that binds the calling event for the function-call subsystem must send an event for the
time step coinciding with the specified sampling rate in the Sample time field. States
can send events with entry or during actions at the simulation sample rate.

For fixed-step sampling, the Sample time value must be an integer multiple of the
fixed-step size.
For variable-step sampling, the Sample time value has no limitations.

Behavior of a Bound Function-Call Subsystem

To see how a state controls a bound function-call subsystem, begin simulating the model
in Model That Binds a Function-Call Subsystem to a State on page 11-100. The
following steps describe the output of the subsystem.

1 In the chart, the default transition to state A occurs.

2 When state A becomes active, it executes its bind and entry actions. The binding
action, bind:E, binds event E to state A. This action enables the function-call
subsystem and resets its state variables to 0.

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11 Use Actions in Charts

State A also executes its entry action, en:E, which sends an event E to trigger
the function-call subsystem and execute its block diagram. The block diagram
increments a count by 1 each time using a Unit Delay block. Because the previous

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 Control Function-Call Subsystems Using Bind Actions

content of the Unit Delay block is 0 after the reset, the initial output is 0 and the
current value of 1 is held for the next call to the subsystem.
3 The next update event from the model tests state A for an outgoing transition.

The temporal operation on the transition to state B, after(10, tick), allows

the transition to be taken only after ten update events are received. For the second
update, the during action of state A, du:E, executes, which sends an event to trigger
the function-call subsystem. The held content of the Unit Delay block, 1, outputs to
the scope.

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11 Use Actions in Charts

The subsystem also adds 1 to the held value to produce the value 2, which the Unit
Delay block holds for the next triggered execution.
4 The next eight update events increment the subsystem output by 1 at each time step.

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 Control Function-Call Subsystems Using Bind Actions

5 On the 11th update event, the transition to state B occurs and state B becomes active.

Because the binding to state A is no longer active, the function-call subsystem is

disabled, and its output drops to 0.

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6 When the next sampling event occurs, the transition from state B to state A occurs.

Again, the binding action, bind: E, enables the function-call subsystem and resets
its output to 0.

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 Control Function-Call Subsystems Using Bind Actions

7 The next 10 update events produce the following output.

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Why Avoid Muxed Trigger Events with Binding

The example in Behavior of a Bound Function-Call Subsystem on page 11-103 shows
how binding events gives control of a function-call subsystem to a single state in a chart.

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 Control Function-Call Subsystems Using Bind Actions

This control does not work when you allow other events to trigger the function-call
subsystem through a mux. For example, the following model defines two function-call
events to trigger a function-call subsystem using a Mux block:

In the chart, E1 binds to state A, but E2 does not. State B sends the triggering event E2 in
its entry action:

When you simulate this model, you get the following output:

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Broadcasting E2 in state B changes the output, which no longer resets.

Note: Binding is not recommended when you provide multiple trigger events to a
function-call subsystem through a mux. Muxed trigger events can interfere with event
binding and cause undefined behavior.

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 Simplify Stateflow Chart Using the duration Operator

Simplify Stateflow Chart Using the duration Operator

The following example focuses on the gear logic of a car as it shifts from first gear to
fourth gear.

When modeling the gear changes of this system, it is important to control the oscillation
that occur. The original sf_car model uses parallel state debouncer logic that controls
which gear state is active. For more information about how debouncers work in
Stateflow, see Debounce Signals on page 24-2.

You can simplify the debouncer logic with the duration operator. You can see this
simplification in the model sf_car_using_duration. The duration operator
evaluates a condition expression and outputs the length of time that the expression
has been true. When that length of time crosses a known time threshold, the state
transitions to a higher or lower gear.

By removing the parallel state logic and using the duration operator, you can control
oscillations with simpler Stateflow logic.

Control Oscillation with Parallel State Logic

To open the following model, at the MATLAB command prompt, enter sf_car. While
shift_logic is highlighted, select Diagram > Mask > Look Under Mask.

The Stateflow chart shift_logic controls which gear the car is in, given the speed
of the car and how much throttle is being applied. Within shift_logic there are
two parallel states: gear_state and selection_state. gear_state contains
four exclusive states for each gear. selection_state determines whether the car is
downshifting, upshifting, or remaining in its current gear.

11-113
11 Use Actions in Charts

In this Stateflow chart, for the car to move from first gear to second gear, the event
UP must be sent from selection_state to gear_state. The event is sent when the
speed crosses the threshold and remains higher than the threshold for the length of time
determined by TWAIT. When the event UP is sent, gear_state transitions from first to
second.

Control Oscillation with the duration Operator

To open the following model, at the MATLAB command prompt, enter
sf_car_using_duration. While Gear_Logic is highlighted, select Diagram > Mask
> Look Under Mask.

Within Gear_Logic there are four exclusive states for each gear. The local variables up
and down guard the transitions between each state.

11-114
 Simplify Stateflow Chart Using the duration Operator

In this Stateflow chart, for the car to move from first gear to second gear, the condition
up must be true. The condition up is defined as true if the length of time that the
speed is greater than or equal to the threshold is greater than the length of time that
is specified by TWAIT. The condition down is defined as true if the length of time that
the speed is less than or equal to the threshold is greater than the length of time that is
specified by TWAIT. The operator duration keeps track of the length of time that the
speed has been above or below the threshold. When the up condition is met, the active
state transitions from first to second.

By replacing the parallel state debouncer logic with the duration operator, you can
create a simpler Stateflow chart to model the gear shifting.

Related Examples
Debounce Signals on page 24-2
Control Chart Execution Using Temporal Logic on page 11-56

11-115
 12

MATLAB Syntax Support for States

and Transitions

Modify the Action Language for a Chart on page 12-2

Action Language Auto Correction on page 12-6
Differences Between MATLAB and C as Action Language Syntax on page 12-7
Model Event-Driven System on page 12-10
12 MATLAB Syntax Support for States and Transitions

Modify the Action Language for a Chart

In this section...
Icons for Action Language Syntax on page 12-2
Change the Default Action Language on page 12-2
C to MATLAB Syntax Conversion on page 12-3
Rules for Using MATLAB as the Action Language on page 12-3

Icons for Action Language Syntax

Charts have an action language property that defines the syntax for state and transition
actions. MATLAB is the default action language syntax for new Stateflow charts. These
charts have a MATLAB icon in the lower-left corner.

Charts can also use C as the action language syntax. These charts have a C icon in the
lower-left corner.

You can change the action language of a chart in the Action Language box of the Chart
properties dialog box.

For more information, see Differences Between MATLAB and C as Action Language
Syntax on page 12-7.

Change the Default Action Language

To change the default action language of new charts, use these commands.
Command Result
sfpref('ActionLanguage','MATLAB') All new charts created have MATLAB
as the action language, unless otherwise
specified in sfnew.
sfpref('ActionLanguage','C') All new charts created have C as the action
language, unless otherwise specified in
sfnew.

12-2
 Modify the Action Language for a Chart

For more information, see sfnew.

C to MATLAB Syntax Conversion

For nonempty charts, after you change the action language property from C to MATLAB,
a notification appears at the top of the chart. The notification provides the option to
convert some of the C syntax to MATLAB syntax. In the notification, click the link to
have Stateflow convert syntax in the chart. C syntax constructs that are converted
include:

Zero-based indexing
Binary and bit-wise operations
C style comments
Explicit casting for constant assignments

If the chart contains C constructs that cannot be converted to MATLAB, Stateflow shows
a message in a dialog box. Click on the warnings link to display the warnings in the
Diagnostic Viewer. Choose whether or not to continue with the conversion of supported
syntax. C constructs not converted to MATLAB include:

Explicit type casts with cast and type

Operators such as &, * and :=
Custom data
Access to workspace variables using ml operator
Functions not supported in code generation
Hexadecimal and single precision notation
Context-sensitive constants

Rules for Using MATLAB as the Action Language

Use unique names for data in a chart

Using the same name for data at different levels of the chart hierarchy causes a compile-
time error.

Use unique names for functions in a chart

Using the same name for functions at different levels of the chart hierarchy causes a
compile-time error.

12-3
12 MATLAB Syntax Support for States and Transitions

Include a type prefix for identifiers of enumerated values

The identifier TrafficColors.Red is valid, but Red is not.

Use the MATLAB format for comments

Use % to specify comments in states and transitions for consistency with MATLAB. For
example, the following comment is valid:
% This is a valid comment in the style of MATLAB

C style comments, such as // and /* */, are auto-corrected to use %.

Use one-based indexing for vectors and matrices

One-based indexing is consistent with MATLAB syntax.

Use parentheses instead of brackets to index into vectors and matrices

This statement is valid:

a(2,5) = 0;

This statement is not valid:

a[2][5] = 0;

Do not use control flow logic in condition actions and transition actions

If you try to use control flow logic in condition actions or transition actions, you get an
error. Use of an if, switch, for, or while statement does not work.

Do not use transition actions in graphical functions

Transition labels in graphical functions do not support transition actions.

Enclose transition actions with braces

The following transition label contains a valid transition action:

E [x > 0] / {x = x+1;}

The following transition label:

E [x > 0] / x = x+1;

12-4
 Modify the Action Language for a Chart

is incorrect, but is auto-corrected to the valid syntax.

Do not declare global or persistent variables in state actions

The keywords global and persistent are not supported in state actions.

To generate code from your model, use MATLAB language features supported for code
generation

Otherwise, use coder.extrinsic to call unsupported functions, which gives the

functionality that you want for simulation, but not in the generated code. For a list of
supported features and functions, see MATLAB Language Features Supported for C/C
++ Code Generation (Simulink) and Functions and Objects Supported for C/C++ Code
Generation Alphabetical List (Simulink).

Assign an initial value to local and output data

When using MATLAB as the action language, data read without an initial value causes
an error.

12-5
12 MATLAB Syntax Support for States and Transitions

Action Language Auto Correction

Stateflow charts that use MATLAB as the action language will automatically correct the
following syntax in the state transition diagrams.

Adds brackets [], if missing, to statements that it recognizes as transition

conditions.
Adds braces{}, if missing, to statements that it recognizes as transition actions.
Converts the following C syntax to MATLAB syntax:

Increment and decrement operations, such as a++ and a--. For example, a++ is
changed to a=a+1.
Assignment operations, such as a+=expr, a=expr, a*=expr, and a/=expr. For
example, a+=b is changed to a=a+b.
Evaluation operations, such as a!=expr and !a. For example, a!=b is changed to
a~=b.
Inserts explicit casts for any literal constant assignment. For example, if y is
defined as type single, then y=1 is changed to y=single(1).
Adds the type entry: to state actions that do not have a specified type.

For example, the following state action:

automatically corrects to this:

12-6
 Differences Between MATLAB and C as Action Language Syntax

Differences Between MATLAB and C as Action Language Syntax

Functionality MATLAB as the Action C as the Action Language
Language
MATLAB syntax in states Supported Not supported
and transitions
Automatic inference of Supported Not supported
scope, size, type, and
complexity for unresolved
input, output, and local data
Control flow logic in state Supported Not supported
labels
Dot notation for specifying Supported Not supported
states, local data, message,
and local events inside
MATLAB functions
C constructs, such as: Automatic correction for Supported
operators to MATLAB
Increment and syntax. For example, a++ is
decrement operations a+ automatically corrected to
+ and a-- a=a+1.
Assignment operations
a+=expr, a=expr,
a*=expr, and a/=expr
Evaluation
operationsa != expr
and !a
Array indexing One-based indexing Zero-based indexing
Fixed-point constructs: Not supported Supported

Assignment operator :=
Context-sensitive
constants, such as 3C
Use of custom code Not supported Supported
variables in states and
transitions

12-7
12 MATLAB Syntax Support for States and Transitions

Functionality MATLAB as the Action C as the Action Language

Language
Use of custom code Supported Supported
functions in states and
transitions
Interpretation of state Automatic correction Supported
actions without a label as
entry actions
Format of transition actions Automatic correction Not required to enclose a
transition action with braces
{}
Format of transition Automatic correction Required to enclose a
conditions transition condition with
brackets []
Type cast operations Use MATLAB form Use type operator
Explicit cast required in Not required for type y = 0
some situations assignment of constants or
constant expressions.
Structure parameters Both tunable and Tunable only
nontunable
Specification of First Not available Available
index, Units, and Save
final value to base
workspace for data of any
scope
Intermediate data type for Follows MATLAB typing Follows C typing rules
arithmetic operations rules
Typing rules for addition Data of type double added Data of type double added
to data of any other type to data of any other type
results in data of the non- results in data of type
double type. double.
Use of global fimath object Supported Not supported
Simulation time for the Use the function Represented by the symbol t
chart getSimulationTime()

12-8
 Differences Between MATLAB and C as Action Language Syntax

Functionality MATLAB as the Action C as the Action Language

Language
Ordering of parallel states Explicit ordering Explicit or implicit ordering
Data scopes in functions Constant, Parameter, Local, Constant,
Input, Output Parameter, Input, Output,
Temporary

12-9
12 MATLAB Syntax Support for States and Transitions

Model Event-Driven System

In this section...
Typical Approaches to Chart Programming on page 12-10
Design Requirements on page 12-10
Identify System Attributes on page 12-11
Build the Model Yourself or Use the Supplied Model on page 12-12
Add a Stateflow Chart to the Feeder Model on page 12-12
Add States to Represent Operating Modes on page 12-15
Implement State Actions on page 12-16
Specify Transition Conditions on page 12-18
Define Data for Your System on page 12-21
Verify the System Representation on page 12-23
Alternative Approach: Event-Based Chart on page 12-25
Feeder Chart Activated by Input Events on page 12-25

Typical Approaches to Chart Programming

There are two general approaches to programming a chart:

Identify the operating modes of your system.

Identify the system interface, such as events to which your system reacts.

This tutorial uses the first approach that is, start by identifying the operating modes of
the system to program the chart.

Design Requirements
This example shows how to build a Stateflow chart using MATLAB as the action
language. The model represents a machine on an assembly line that feeds raw material
to other parts of the line. This feeder behaves as follows:

At system initialization, check that the three sensor values are normal.

12-10
 Model Event-Driven System

A positive value means the sensor is working correctly. A zero means that the sensor
is not working.
If all sensor values are normal, transition from "system initialization" to "on".
If the feeder does not leave initialization mode after 5 seconds, force the feeder into
the failure state.
After the system turns on, it starts counting the number of parts fed.
At each time step, if any sensor reading is 2 or greater, the part has moved to the next
station.
If the alarm signal sounds, force the system into the failure state.

An alarm signal can occur when an operator opens one of the safety doors on the
feeder or a downstream problem occurs on the assembly line, which causes all
upstream feeders to stop.
If the all-clear signal sounds, resume normal operation and reset the number of parts
fed to zero.
The feeder LED changes color to match the system operating mode orange for
"system initialization", green for "on", and red for "failure state".

Identify System Attributes

Based on the description of feeder behavior, you can identify the key system attributes.

Attribute Characteristic
Operating modes System initialization, to perform system checks before
turning on the machine
On, for normal operation
System failure, for a recoverable machine failure flagged
by an alarm
Transitions System initialization to On
System initialization to Failure state
On to Failure state
Failure state to System initialization
Parallel Modes No operating modes run in parallel. Only one mode can be
active at any time.

12-11
12 MATLAB Syntax Support for States and Transitions

Attribute Characteristic
Default Mode System initialization
Inputs Three sensor readings to detect if a part has moved to a
downstream assembly station
An alarm signal that can take one of two values: 1 for on
and 0 for off
Outputs Number of parts that have been detected as fed to a
downstream assembly station
Color of the LED on the feeder

Build the Model Yourself or Use the Supplied Model

In this exercise, you add a Stateflow chart to a Simulink model that contains sensor and
alarm input signals to the feeder.

Follow the exercises below to implement the model yourself. Otherwise, to open the
supplied model, at the MATLAB command prompt enter:

addpath(fullfile(docroot,'toolbox','stateflow','examples'))
ex_feeder

Add a Stateflow Chart to the Feeder Model

1 Open the partially built model by executing the following at the MATLAB command
prompt:

addpath(fullfile(docroot,'toolbox','stateflow','examples'))
ex_feeder_exercise
2 Save the model in your working folder.

12-12
 Model Event-Driven System

3 Double-click the SensorSignals block to see the three sensor signals represented
by pulse generator blocks.

The sensors signal indicates when the assembly part is ready to move to the next
station.
4 Double-click the AlarmSignal block to see the step blocks that represent the alarm
signal.

When the ALARM signal is active, the machine turns off.

5 Run the model to see the output of the sensor and alarm signals in the Scope block.

12-13
12 MATLAB Syntax Support for States and Transitions

The upper axis shows the sensor signals. Only two sensor signals appear because two
of the sensors have the same signal. The lower axis shows the alarm signal which
turns the feeder off between the simulation time of 45 to 80 seconds.

12-14
 Model Event-Driven System

6 Open the Stateflow Library by executing sflib at the MATLAB command prompt.
7 Select Chart and drag it into your model.

Tip: To create a new model with an empty Stateflow chart which uses MATLAB as
the action language, use the command,sfnew.
8 Delete the connections from the SensorSignals subsystem to the scope and from the
AlarmSignal subsystem to the scope.
9 Rename the label Chart located under the Stateflow chart to Feeder. The model
should now look like this:

Add States to Represent Operating Modes

Based on the system attributes previously described, there are three operating modes:

System initialization
On
Failure state

To add states for modeling the behavior of these operating modes:

1 Double-click the Feeder Chart to begin adding states.

Note: The MATLAB icon in the lower left corner of the chart indicates that you are
using a Stateflow chart with MATLAB syntax.

12-15
12 MATLAB Syntax Support for States and Transitions

2 Click the State Tool icon to bring a state into the chart.

3 Click the upper left corner of the state and type the name, InitializeSystem.

4 Repeat steps 2 and 3 to add two more states named On and FailState.

Implement State Actions

Decide the Type of State Action

States perform actions at different phases of their execution cycle from the time they
become active to the time they become inactive. Three basic state actions are:

Type of Action When Executed How Often Executed While State Is

Active
Entry When the state is entered Once
(becomes active)
During While the state is active and no At every time step
valid transition to another state
is available
Exit Before a transition is taken to Once
another state

For example, you can use entry actions to initialize data, during actions to update
data, and exit actions to configure data for the next transition. For more information
about other types of state actions, see Syntax for States and Transitions.)

1 Press return after the InitializeSystem state name and add this text to define
the state entry action:

entry:

12-16
 Model Event-Driven System

Light = ORANGE;
An orange LED indicates entry into the InitializeSystem state.

Syntax for an entry action

The syntax for entry actions is:

entry: one or more actions;

2 Add the following code after the FailState state name to define the entry action:

entry:
Light = RED;

A red LED indicates entry in the FailState.

3 Add the following code after the On state name to define the entry action:

entry:
Light = GREEN;
partsFed = 0;
A green LED indicates entry in the On state. The number of parts fed is initialized to
0 each time we enter the On state
4 Add the following code to the On state after the entry action to check if there is a
strong sensor signal and increment the parts fed to the next station:

during:
if(any(sensors >= 2))
partsFed = partsFed + 1;
end

The On state checks the sensor signal to determine if a part is ready to be fed to the
next assembly station. If the sensor signal is strong (the number of sensors that are
on is greater than or equal to 2), then the chart counts the part as having moved on
to the next station.

Syntax for during actions

The syntax for during actions is:

during: one or more actions;

The chart should now look like this figure.

12-17
12 MATLAB Syntax Support for States and Transitions

Specify Transition Conditions

Transition conditions specify when to move from one operating mode to another. When
the condition is true, the chart takes the transition to the next state, otherwise, the
current state remains active. For more information, see Transitions on page 2-19.

Based on the description of feeder behavior, specify the rules for transitions between
states:

1 Connect a default transition to the InitializeSystem state to indicate the chart

entry point.

12-18
 Model Event-Driven System

Default Transitions on page 2-35 specify where to begin the simulation.

2 Draw a transition from the InitializeSystem state to the On state:

a Move the mouse over the lower edge of the InitializeSystem state until the
pointer shape changes to crosshairs.
b Click and drag the mouse to the upper edge of the On state. You then see a
transition from the InitializeSystem state to the On state.
c Double-click the transition to add this condition:

[all(sensors>0)]

This transition condition verifies if all of the sensors have values greater than zero.
3 Repeat these steps to create these remaining transition conditions.

Transition Condition
On to FailState [Alarm == 1]
FailState to InitializeSystem [Alarm == 0]
4 Draw another transition from InitializeSystem to FailState. On this
transition, type the following to create the transition event:

after(5,sec)
If the sensors have not turned on after 5 seconds, this syntax specifies a transition
from InitializeSystem to FailState.

Note: The syntax on this transition is an event rather than a transition condition.
For details, refer toControl Chart Execution Using Temporal Logic on page 11-56.

The chart now looks like this figure.

12-19
12 MATLAB Syntax Support for States and Transitions

Note: The outgoing transitions from InitializeSystem have a small label 1 and 2 to
indicate the order in which transition segments are evaluated. If the numbers from the
figure do not match your model, right click the transition and then change it by clicking
on Execution Order. See Evaluation Order for Outgoing Transitions on page 3-60 for
details.

12-20
 Model Event-Driven System

Define Data for Your System

Verify the Chart Data Properties

Start the simulation of your model. Errors about unresolved symbols appear, along with
the Symbol Wizard.

The Symbol Wizard does not automatically add any data to your chart. It identifies the
unresolved data and infers the class and scope of that data using the inference rules of
MATLAB expressions in Stateflow actions. In the chart:

Data that is read from but not written to is inferred as input data. However, if the
name of the data is in all uppercase letters, the Symbol Wizard infers the data as a
parameter
Data that is written to but not read from is inferred as output data.

12-21
12 MATLAB Syntax Support for States and Transitions

Data that is read from and written to is inferred as local data.

The Symbol Wizard infers the scope of the input data in your chart. However, you must
fix the data scope for the partsFed Output. Follow these steps:

1 For the partsFed data: in the Data Scope column, select Output from the list

The Symbol Wizard now looks like this figure.

2 To add the data that the Symbol Wizard suggests, click OK.
3 Add initial values for the parameters. At the MATLAB command prompt, enter:

RED = 0;
4 Similarly, at the MATLAB command prompt, add the following initial values for the
remaining parameters:

12-22
 Model Event-Driven System

Parameter Value
RED 0
ORANGE 1
GREEN 2
5 Return to the model and connect the inputs and outputs to their respective ports.

Verify the System Representation

1 Start the simulation.

Double-click the Scope block to verify that the model captures the expected feeder
behavior.

12-23
12 MATLAB Syntax Support for States and Transitions

The upper axis shows the LED signal which varies between orange (1), green (2), and red
(0) to indicate the current operating mode. The lower axis shows the number of parts fed
to the next assembly station, which increases incrementally until the alarm signal turns
the machine off and then resets.

12-24
 Model Event-Driven System

Alternative Approach: Event-Based Chart

Another approach to programming the chart is to start by identifying parts of the system
interface, such as events to which your system reacts.

In the previous example, when you use input data to represent an event, the chart wakes
up periodically and verifies whether the conditions on transitions are valid. In this case,
if ALARM == 1, then the transition to the failure state happens at the next time step.
However, creating a Stateflow chart which reacts to input events allows you to react to
the alarm signal when the event is triggered.

For details on when to use an event-based chart, see How Events Work in Stateflow
Charts on page 9-2.

Identify System Attributes for Event-Driven Systems

In the event-based approach, the system attributes to consider first are the events,
inputs, and outputs.

In the following table, consider the characteristics of the event-driven Feeder Model that
are different from the system based on transition conditions.

Attributes Characteristics
Events Two asynchronous events: an alarm signal and an all-clear
signal
Inputs Three sensor readings to detect if a part has moved to a
downstream assembly station

Feeder Chart Activated by Input Events

In this example, the Feeder model reacts to input events using a triggered chart. To open
this model, at the MATLAB command prompt enter:

addpath(fullfile(docroot,'toolbox','stateflow','examples'))
ex_feeder_triggered

12-25
12 MATLAB Syntax Support for States and Transitions

The chart now has only one input port on the left and an event triggered input on the
top. For more information on how to create a Stateflow chart activated by events, see
Activate a Stateflow Chart Using Input Events on page 9-9

When the ALARM signal triggers the chart, the chart responds to the trigger in that
time step. If the current state is On when the alarm is triggered, then the current state
transitions to FailState.

12-26
 Model Event-Driven System

The scope output for the Event-triggered chart is in the following figure.

12-27
12 MATLAB Syntax Support for States and Transitions

The upper axis shows the LED signal which varies between red (0), orange (1), and green
(2) to indicate the current operating mode. The lower axis shows the number of parts fed
to the next assembly station, which increases incrementally until the alarm signal turns
the machine off and then resets. However, the event-based simulation feeds more parts
to the next assembly station due to clock and solver differences.

12-28
 13

Tabular Expression of Modal Logic

What Is a State Transition Table? on page 13-2

Differences Between State Transition Tables and Charts on page 13-5
Anatomy of a State Transition Table on page 13-6
Create State Transition Table and Specify Properties on page 13-8
Generate Diagrams from State Transition Tables on page 13-10
View State Reactions with State Transition Matrix on page 13-11
Highlight Flow of Logic on page 13-14
State Transition Table Operations on page 13-16
Rules for Using State Transition Tables on page 13-19
State Transition Table Diagnostics on page 13-20
Model Bang-Bang Controller with State Transition Table on page 13-21
Debug Run-Time Errors in a State Transition Table on page 13-37
13 Tabular Expression of Modal Logic

What Is a State Transition Table?

A state transition table is an alternative way of expressing sequential modal logic.
Instead of drawing states and transitions graphically in a Stateflow chart, you express
the modal logic in tabular format.

Benefits of using state transition tables include:

Ease of modeling train-like state machines, where the modal logic involves transitions
from one state to its neighbor
Concise, compact format for a state machine
Reduced maintenance of graphical objects

When you add or remove states from a chart, you have to rearrange states,
transitions, and junctions. When you add or remove states from a state transition
table, you do not have to rearrange any graphical objects.

State transition tables support MATLAB action language. For more information about
this action language, see Rules for Using MATLAB as the Action Language on page
12-3.

The following state transition table contains the modal logic for maintaining the
temperature of a boiler between two set points:

13-2
 What Is a State Transition Table?

If you create a Stateflow chart to represent the same modal logic, the chart looks
something like this:

13-3
13 Tabular Expression of Modal Logic

13-4
 Differences Between State Transition Tables and Charts

Differences Between State Transition Tables and Charts

State transition tables support a subset of the most commonly used elements in Stateflow
charts. Elements that state transition tables do not support include:

Supertransitions
Parallel (AND) decomposition
Local events
Flow charts
Use of chart-level functions (graphical, truth table, MATLAB, and Simulink)

13-5
13 Tabular Expression of Modal Logic

Anatomy of a State Transition Table

A state transition table contains the following components:

Each transition column contains the following state-to-state transition information:

Condition
Condition action

13-6
 Anatomy of a State Transition Table

Destination state

13-7
13 Tabular Expression of Modal Logic

Create State Transition Table and Specify Properties

In this section...
How to Create a New State Transition Table on page 13-8
Properties for State Transition Tables on page 13-8

How to Create a New State Transition Table

At the MATLAB command prompt, enter:

sfnew('-STT')

From the Simulink Library Browser:

1 Select the Stateflow library.

2 Drag a state transition table into your model.

Properties for State Transition Tables

To access properties, in the Stateflow editor, select Chart > Properties.

13-8
 Create State Transition Table and Specify Properties

These properties are the same as for MATLAB charts. For a description of each property,
see Specify Chart Properties on page 22-3.

13-9
13 Tabular Expression of Modal Logic

Generate Diagrams from State Transition Tables

Stateflow software automatically generates a read-only state transition diagram from
the state transition table you create. As you enter changes to a state transition table,
Stateflow incrementally updates the diagram as well. To see the most up-to-date version
of the underlying diagram, select Chart > View auto-generated diagram.

13-10
 View State Reactions with State Transition Matrix

View State Reactions with State Transition Matrix

In this section...
What is a State Transition Matrix? on page 13-11
Create a State Transition Matrix on page 13-11
Filter by State Name on page 13-12
Traceability To State Transition Table on page 13-13

What is a State Transition Matrix?

The state transition matrix is an alternative view of a state transition table. In the
state transition matrix, you can easily see how the state transition table reacts to each
condition and event.

Each row represents a state in the state transition table. Each column represents a
condition or event. Scan across the cells in a state row to see the reaction of that state to
each event or condition. Scan down the cells of a column to see how all states respond to
that event or condition.

Create a State Transition Matrix

To create the matrix view for the state transition table that you build in Model Bang-
Bang Controller with State Transition Table on page 13-21:

1 At the command prompt, enter:

addpath (fullfile(docroot,'toolbox','stateflow','examples'))
ex_stt_boiler
2 Select Chart > View State Transition Matrix.

13-11
13 Tabular Expression of Modal Logic

The order of the state rows is the same as the state transition table. The order of the
columns is based on the number of states that respond to the condition or event. The
leftmost column is the condition or event that impacts the highest number of state cells.
The rightmost column is the condition or event that impacts the fewest number of states.

The execution order appears in the upper-right corner of each transition cell. The
execution order is red if it is out of order relative to the event columns. For example, in
the state Warmup, the doneWarmup condition is tested before after(10, sec). Because
the after(10, sec) column is before the doneWarmup column, the execution order for
each corresponding cell is shown in red.

If you change the state transition table, you must regenerate the state transition matrix.

Filter by State Name

To see a subset of state rows, you can filter rows based on state names. In the upper-
left corner of the state transition matrix, enter a state name in the States search box.
Stateflow gives you valid state name options as you type.

13-12
 View State Reactions with State Transition Matrix

If you have too many events and conditions to view at once, you can scroll through the
window horizontally. When you scroll to the right, you continue to see the state names as
an overlay on each row.

Traceability To State Transition Table

In the state transition matrix cells, the state names, actions, conditions, and destinations
are hyperlinks. Click one of these hyperlinks to see the corresponding state, action,
condition, or destination highlighted in the state transition table. To remove the
highlighting on the state transition table, select Display > Remove Highlighting.

For more information about traceability and generated C/C++ code, see Trace Code
to Model Objects by Using Hyperlinks (Embedded Coder) and Trace Model Objects
to Generated Code (Embedded Coder). For more information about traceability and
generated HDL code, see Traceability Report (HDL Coder).

Related Examples
Create State Transition Table and Specify Properties on page 13-8
Model Bang-Bang Controller with State Transition Table on page 13-21

More About
What Is a State Transition Table? on page 13-2

13-13
13 Tabular Expression of Modal Logic

Highlight Flow of Logic

To visualize a flow of logic, you can highlight one transition cell per row in your state
transition table. For example, you might want to highlight the primary flow of logic from
one state to another or the flow that represents an error condition.

The highlighting persists across MATLAB sessions and appears in the autogenerated
state transition diagram as well as the state transition table.

To highlight transition cells:

1 In the transition table editor, right-click the transition cell and select Mark as
primary transition.

The transition cell appears with a red border.

2 Highlight additional cells, one per row, to complete the flow.

For example:

13-14
 Highlight Flow of Logic

3 To view the flow in the autogenerated state diagram, select Chart > View auto-
generated diagram.

The transitions that represent the flow appear highlighted in the diagram.

13-15
13 Tabular Expression of Modal Logic

State Transition Table Operations

In this section...
Insert Rows and Columns on page 13-16
Move Rows and Cells on page 13-17
Copy Rows and Transition Cells on page 13-17
Set Default State on page 13-17
Add History Junction on page 13-17
Print State Transition Tables on page 13-17
Select and Clear Table Elements on page 13-18
Undo and Redo Edit Operations on page 13-18
Zoom on page 13-18

Insert Rows and Columns

To insert a row:

1 Select an existing state.

2 Select Chart > Insert Row > and choose one of these options:

Option Description
State Row Inserts a state at the same level of
hierarchy.
Child State Row Inserts a state as a child of the selected
state.
Default Transition Path Row Inserts a row for specifying conditional
default transition paths.
Inner Transition Path Row Inserts a row for specifying inner
transitions from the selected parent state
to its child states.

To insert a column:

1 Select Chart > Append Transition Column. A new else-if column appears to
the right of the last column.

13-16
 State Transition Table Operations

Move Rows and Cells

To move a row, click the state cell and drag the row to a new location. As you drag the
row, you see a visual indicator of where in the hierarchy the state will appear in its new
position.

To move a transition cell, click anywhere in the cell and drag the condition, action, and
destination cells as a unit to a new location. The transition cell you displace moves one
cell to the right, creating a new column if one doesnt exist. The state transition table
prevents you from moving cells to an invalid destination and alerts you to the problem.

Copy Rows and Transition Cells

To copy a row:

1 Right-click the state in the row you want to copy and select Copy.
2 Right-click the state in the destination row and select Paste.

The row appears above the destination row.

To copy a transition cell:

1 Right-click a cell and select Copy.

2 Right-click a destination cell of the same type and select Paste.

The new content overwrites the existing content at the destination. The state
transition table prevents you from copying content to an invalid destination.

Set Default State

Right-click the state and select Set to default.

Add History Junction

You can add history junctions to states that have children. Right-click the state and
select Add history junction.

Print State Transition Tables

To print a copy of the state transition table, select File > Print > Print or press Ctrl+P
(Command+P).

13-17
13 Tabular Expression of Modal Logic

Select and Clear Table Elements

Task Action
Select a cell for editing Click the cell.
Exit edit mode in a cell Press Esc or click another table, cell, row,
or column.

Undo and Redo Edit Operations

To undo the effects of the previous operation, select Edit+Undo or press Ctrl+Z
(Command+Z).

To undo the effects of the previous operation, select Edit+Redo or press Ctrl+Y
(Command+Y).

You can undo and redo up to 10 operations.

Zoom
To zoom in and out of your State Transition Table, select View > Zoom. You can add
new rows to your State Transition Table at the zoom level that is consistent with your
chart. When you save your model, the zoom level is saved.

13-18
 Rules for Using State Transition Tables

Rules for Using State Transition Tables

Use MATLAB instead of C as action language syntax.

For more information, see Differences Between MATLAB and C as Action Language
Syntax on page 12-7.
If you specify an action in a transition cell, it must be a condition action.
State transition tables must have at least one state row and one transition column.

13-19
13 Tabular Expression of Modal Logic

State Transition Table Diagnostics

You can run diagnostic checks on a state transition table. From the Stateflow editor,
select Chart > Run Diagnostics.

The diagnostics tool statically parses the table to find errors such as:

States with no incoming transitions

Transition cells with conditions or actions, but no destination
Action text in a condition cell
States that are unreachable from the default transition
Default transition row without unconditional transition
Inner transition row execution order mismatches. The inner transition row for a
state must specify destination states from left to right in the same order as the
corresponding states appear in the table, from top to bottom.

Each error is reported with a hyperlink to the corresponding object causing the error.
These checks are also performed during simulation.

See for an example on using the diagnostics tool for state transition tables.

13-20
 Model Bang-Bang Controller with State Transition Table

Model Bang-Bang Controller with State Transition Table

In this section...
Why Use State Transition Tables? on page 13-21
Design Requirements on page 13-22
Identify System Attributes on page 13-22
Build the Controller or Use the Supplied Model on page 13-23
Create a New State Transition Table on page 13-23
Add States and Hierarchy on page 13-25
Specify State Actions on page 13-26
Specify Transition Conditions and Actions on page 13-29
Define Data on page 13-31
Connect the Transition Table and Run the Model on page 13-33
View the Graphical Representation on page 13-35

Why Use State Transition Tables?

A state transition table is an alternative way of expressing modal logic. Instead of
drawing states and transitions graphically in a Stateflow chart, you express the modal
logic in tabular format. State transition tables use MATLAB as the action language.

Benefits of using state transition tables include:

Ease of modeling train-like state machines, where the modal logic involves transitions
from one state to its neighbor
Concise, compact format for a state machine
Reduced maintenance of graphical objects

When you add or remove states from a chart, you have to rearrange states,
transitions, and junctions. When you add or remove states from a state transition
table, you do not have to rearrange any graphical objects.

13-21
13 Tabular Expression of Modal Logic

Design Requirements
This example shows how to model a bang-bang controller for temperature regulation of
a boiler, using a state transition table. The controller must turn the boiler on and off to
meet the following design requirements:

High temperature cannot exceed 25 degrees Celsius.

Low temperature cannot fall below 23 degrees Celsius.
Steady-state operation requires a warm-up period of 10 seconds.
When the alarm signal sounds, the boiler must shut down immediately.
When the all-clear signal sounds, the boiler can turn on again.

Identify System Attributes

You can identify the operating modes and data requirements for the bang-bang controller
based on its design requirements.

Operating Modes

The high-level operating modes for the boiler are:

Normal operation, when no alarm signal sounds.

Alarm state, during an alarm signal.

During normal operation, the boiler can be in one of three states:

Off, when the temperature is above 25 degrees Celsius.

Warm-up, during the first 10 seconds of being on.
On, steady-state after 10 seconds of warm-up, when the temperature is below 23
degrees Celsius.

Data Requirements

The bang-bang controller requires the following data.

Scope Description Variable Name

Input High temperature set point reference_high

13-22
 Model Bang-Bang Controller with State Transition Table

Scope Description Variable Name

Input Low temperature set point reference_low
Input Alarm indicator ALARM
Input All-clear indicator CLEAR
Input Current temperature of the temp
boiler
Local Indicator that the boiler doneWarmup
completed warm-up
Output Command to set the boiler boiler_cmd
mode: off, warm-up, or on

Build the Controller or Use the Supplied Model

To build the bang-bang controller model yourself using a state transition table, work
through the exercises, starting with Create a New State Transition Table on page
13-23. Otherwise, open the supplied model. At the MATLAB prompt, enter these
commands:

addpath (fullfile(docroot,'toolbox','stateflow','examples'))
ex_stt_boiler

Create a New State Transition Table

You use a state transition table to represent the bang-bang controller. Compared to
a graphical state transition diagram, the state transition table is a compact way to
represent modal logic that involves transitions between neighboring states. State
transition tables use MATLAB syntax.

1 Open the partially built boiler plant model by entering these commands:

addpath (fullfile(docroot,'toolbox','stateflow','examples'))
ex_stt_boiler_exercise

This model contains all required Simulink blocks, except for the bang-bang
controller.

13-23
13 Tabular Expression of Modal Logic

2 Delete the five output ports and the single input port.
3 Open the Library Browser by selecting View > Library Browser.
4 In the left pane of the Library Browser, select the Stateflow library, then drag a
State Transition Table block from the right pane into your boiler model.

Your model should look something like this model.

5 Close the Library Browser.

Now you are ready to add states and hierarchy to the state transition table.

13-24
 Model Bang-Bang Controller with State Transition Table

Add States and Hierarchy

To represent the operating modes of the boiler, add states and hierarchy to the state
transition table.

1 Open the state transition table.

2 Represent the high-level operating modes, normal and alarm:

a Double-click state1 and rename it Normal.

b Double-click state2 and rename it Alarm.
3 Represent the three states of normal operation as substates of Normal:

a Right-click the Normal state, select Insert Row > Child State Row, and name
the new state Off.

b Repeat step a two more times to create the child states Warmup and On, in that
order.

By default, when there is ambiguity, the top exclusive (OR) state at every level of
hierarchy becomes active first. For this reason, the Normal and Off states appear
with default transitions. This configuration meets the design requirements for this
model.

How do I set a default state?

Right-click the state and select Set to default.

Your state transition table should look like this table.

13-25
13 Tabular Expression of Modal Logic

Now you are ready to specify actions for each state.

Specify State Actions

To describe the behavior that occurs in each state, specify state actions in the table.
In this exercise, you initialize modes of operation as the boiler enters normal and

13-26
 Model Bang-Bang Controller with State Transition Table

alarm states, using the variables boiler_cmd and doneWarmup (described in Data
Requirements on page 13-22).

1 In the following states, click after the state name, press Enter, and type the
specified entry actions.

In State: Type: Resulting Behavior

Off entry: Turns off the boiler and
boiler_cmd = 0; indicates that the boiler
doneWarmup = false; has not warmed up.
Warmup entry: Starts warming up the
boiler_cmd = 2; boiler.
On entry: Turns on the boiler.
boiler_cmd = 1;
Alarm entry: Turns off the boiler.
boiler_cmd = 0;

2 Save the state transition table.

Your state transition table should look like this table.

13-27
13 Tabular Expression of Modal Logic

Now you are ready to specify the conditions and actions for transitioning from one state
to another state.

13-28
 Model Bang-Bang Controller with State Transition Table

Specify Transition Conditions and Actions

To indicate when to change from one operating mode to another, specify transition
conditions and actions in the table. In this exercise, you construct statements using
variables described in Data Requirements on page 13-22.

1 In the Normal state row, enter:

if
[ALARM]

Alarm

During simulation:

a When first entered, the chart activates the Normal state.

b At each time step, normal operation cycles through the Off, Warmup, and On
states until the ALARM condition is true.
c When the ALARM condition is true, the boiler transitions to the Alarm state
and shuts down immediately.
2 In the Off state row, enter:

if
[temp <=
reference_low]

Warmup

During simulation, when the current temperature of the boiler drops below 23
degrees Celsius, the boiler starts to warm up.
3 In the Warmup state row, enter:

if else-if
[doneWarmup] [after(10, sec)]
{doneWarmup =
true;}

13-29
13 Tabular Expression of Modal Logic

if else-if
On On

During simulation, the boiler warms up for 10 seconds and then transitions to the On
state.
4 In the On state row, enter:

if
[temp >=
reference_high]

Off

During simulation, when the current temperature of the boiler rises above 25
degrees Celsius, the boiler shuts off.
5 In the Alarm state row, enter:

if
[CLEAR]

Normal

During simulation, when the all-clear condition is true, the boiler returns to normal
mode.
6 Save the state transition table.

Your state transition table should look like this table.

13-30
 Model Bang-Bang Controller with State Transition Table

Now you are ready to add data definitions using the Symbol Wizard.

Define Data
State transition tables use MATLAB syntax and honor the language requirements for
C/C++ code generation. One of these requirements is that you define the size, type,
and complexity of all MATLAB variables so that their properties can be determined at
compile time. Even though you have not yet explicitly defined the data in your state

13-31
13 Tabular Expression of Modal Logic

transition table, you can use the Symbol Wizard. During simulation, the Symbol Wizard
alerts you to unresolved symbols, infers their properties, and adds the missing data to
your table.

1 In the Simulink model editor menu, select Simulation > Run.

Two dialog boxes appear:

The Diagnostic Viewer indicates that you have unresolved symbols in the state
transition table.
The Symbol Wizard attempts to resolve the missing data. The wizard correctly
infers the scope of all data except for the inputs ALARM and CLEAR.

2 In the Symbol Wizard, correct the scopes of ALARM and CLEAR by selecting Input
from their Scope drop-down lists.

13-32
 Model Bang-Bang Controller with State Transition Table

3 When the Model Explorer opens, verify that the Symbol Wizard added all required
data definitions correctly.

Some of the inputs are assigned to the wrong ports.

4 In the Contents pane of the Model Explorer, reassign input ports as follows:

Assign: To Port:
reference_low2
1
reference_high
temp 5
ALARM 3
CLEAR 4
5 Save the state transition table.
6 Close the Diagnostic Viewer and the Model Explorer.

In the Simulink model, the inputs and outputs that you just defined appear in the State
Transition Table block. Now you are ready to connect these inputs and outputs to the
Simulink signals and run the model.

Connect the Transition Table and Run the Model

1 In the Simulink model, connect the state transition table to the Simulink inputs and
outputs:

13-33
13 Tabular Expression of Modal Logic

2 Save the model.

3 Reopen your state transition table.
4 Start the simulation by selecting Simulation > Run.

As the simulation runs, you can watch the animation in the state transition table
activate different states.

The following output appears in the Scope block.

13-34
 Model Bang-Bang Controller with State Transition Table

If you need to perform interactive debugging, you can set breakpoints on different states
and view the data values at different points in the simulation. For more information
about debugging, see Basic Approach to Debugging Charts on page 29-2.

View the Graphical Representation

Stateflow automatically generates a read-only graphical representation of the state
transition table you created.

1 In the state transition table, select Chart > View auto-generated diagram.

13-35
13 Tabular Expression of Modal Logic

The top-level state transition diagram looks like this:

The Normal state appears as a subchart.

2 Double-click the Normal state to view the states and transitions it contains.

13-36
 Debug Run-Time Errors in a State Transition Table

Debug Run-Time Errors in a State Transition Table

Create the Model and the State Transition Table

1 Create a Simulink model with a new State Transition Table (sfnew -stt).
2 Add the following states and transitions to your table:

13-37
13 Tabular Expression of Modal Logic

The table has two states at the highest level in the hierarchy, Power_off and
Power_on. By default, Power_off is active. The event SWITCH toggles the system
between the Power_off and Power_on states. Power_on has three substates:
First, Second, and Third. By default, when Power_on becomes active, First
also becomes active. When Shift equals 1, the system transitions from First to

13-38
 Debug Run-Time Errors in a State Transition Table

Second, Second to Third, and Third to First, for each occurrence of the event
SWITCH. Then the pattern repeats.
3 Add two inputs on page 8-2 from Simulink:

An event called SWITCH with a scope of Input from Simulink and a Rising
edge trigger.
A data called Shift with a scope of Input from Simulink.
4 In the model view, connect a Sine Wave block as the SWITCH event and a Step block
as the Shift data for your State Transition Table.

In the model, there is an event input and a data input. A Sine Wave block generates
a repeating input event that corresponds with the Stateflow event SWITCH. The Step
block generates a repeating pattern of 1 and 0 that corresponds with the Stateflow
data object Shift. Ideally, the SWITCH event occurs at a frequency that allows at
least one cycle through First, Second, and Third.

Debug the State Transition Table

To debug the table in Create the Model and the State Transition Table on page
13-37, follow these steps:

1 Right-click the Power_off state, and select Set Breakpoint > On State Entry.
2 Start the simulation.

Because you specified a breakpoint on Power_off, execution stops at that point.

13-39
13 Tabular Expression of Modal Logic

3
Move to the next step by clicking the Step In button, .
4 Hover your cursor over the different table cells to see the data used and the current
values.

Continue clicking the Step In button and watching the animating states. After each
step, watch the chart animation to see the sequence of execution. Use the tooltips to
see the data values.

Single-stepping shows that the loop from First to Second to Third inside the state
Power_on does not occur. The transition from Power_on to Power_off takes priority.

Correct the Run-Time Error

In Debug the State Transition Table on page 13-39, you step through a simulation
of a state transition table and find an error. The event SWITCH drives the simulation, but
the simulation time passes too quickly for the input data object Shift to have an effect.

To correct this error:

1 Stop the simulation so that you can edit the table.

2 Add the condition after(20.0, sec) to the transition from Power_on to
Power_off.

13-40
 Debug Run-Time Errors in a State Transition Table

Now the transition from Power_on to Power_off does not occur until 20 seconds
have passed.
3 Begin simulation.
4 Click the Step In button repeatedly to observe the fixed behavior.

13-41
13 Tabular Expression of Modal Logic

Related Examples
Debug Run-Time Errors in a Chart on page 29-21
Debug a Truth Table on page 25-44

13-42
 14

Make States Reusable with Atomic

Subcharts

What Is an Atomic Subchart? on page 14-2

When to Use Atomic Subcharts on page 14-4
Benefits of Using Atomic Subcharts on page 14-5
Restrictions for Converting to Atomic Subcharts on page 14-11
Convert to and from Atomic Subcharts on page 14-13
Map Variables for Atomic Subcharts on page 14-18
Generate Reusable Code for Atomic Subcharts on page 14-34
Rules for Using Atomic Subcharts on page 14-36
Reuse a State Multiple Times in a Chart on page 14-39
Reduce the Compilation Time of a Chart on page 14-48
Divide a Chart into Separate Units on page 14-50
Generate Reusable Code for Unit Testing on page 14-53
14 Make States Reusable with Atomic Subcharts

What Is an Atomic Subchart?

In a Stateflow chart, an atomic subchart is a graphical object that helps you reuse the
same state or subchart across multiple charts and models. Atomic subcharts allow:

Ease of team development for people working on different parts of the same chart
Faster simulation after making small changes to a chart with many states or levels of
hierarchy
Manual inspection of generated code for a specific state or subchart in a chart
Ability to animate and debug multiple charts side by side

States, subcharts, and atomic subcharts have these key similarities and differences:

Capability State Subchart Atomic Subchart

Can behave as a No No Yes
standalone chart
Can generate No No Yes
reusable code
Supports access to Yes Yes No
event broadcasts
outside the scope of
that object
Supports access to Yes Yes No
data at any level of
the hierarchy

Atomic subcharts and atomic subsystems (see Atomic Subsystem in the Simulink
documentation) have these key similarities and differences:

Capability Atomic Subchart Atomic Subsystem

Supports generation of Yes Yes
reusable code
Supports usage as a library Yes Yes
link
Requires parameterizing of Yes No
data when used as a library
link

14-2
 What Is an Atomic Subchart?

Capability Atomic Subchart Atomic Subsystem

Supports explicit No Yes
specification of sample time

The following examples show how to use atomic subcharts for modeling typical
applications:

Example Application
sf_atomic_sensor_pair A redundant sensor pair
sf_elevator An elevator system with two identical lifts

14-3
14 Make States Reusable with Atomic Subcharts

When to Use Atomic Subcharts

Consider using atomic subcharts when one or more of these scenarios apply:

Scenario Reason for Using Atomic Reference Tutorial

Subcharts
You want to reuse the You can store an atomic Comparison of Reuse a State Multiple
same state or subchart subchart in a library Modeling Methods on Times in a Chart on
many times across to enable reuse across page 14-5 page 14-39
different charts or different charts and
models to facilitate models. When you
large-scale modeling. change an atomic
subchart in a library,
the change propagates
to all links.
You want to use When you modify Comparison of Reduce the
simulation to test your an atomic subchart, Simulation Methods Compilation Time
changes, one by one, recompilation occurs for on page 14-6 of a Chart on page
without recompiling the only that object and not 14-48
entire chart. the entire chart.
You want to break a Because atomic Comparison of Editing Divide a Chart into
chart into standalone subcharts behave as Methods on page Separate Units on
parts because multiple standalone objects, 14-7 page 14-50
people are working on people can work on
different parts of the different parts of a
chart. chart without affecting
any work that someone
else is doing.
You want to inspect You can specify that Comparison of Code Generate Reusable
Simulink Coder or code for an atomic Generation Methods Code for Unit Testing
Embedded Coder subchart appears in a on page 14-7 on page 14-53
generated code separate file for unit
manually for a specific testing.
part of a chart.

14-4
 Benefits of Using Atomic Subcharts

Benefits of Using Atomic Subcharts

In this section...
Comparison of Modeling Methods on page 14-5
Comparison of Simulation Methods on page 14-6
Comparison of Editing Methods on page 14-7
Comparison of Code Generation Methods on page 14-7

Comparison of Modeling Methods

The following sections compare two ways of modeling similar states in charts.

Model without Atomic Subcharts

You create a separate instance of each state in your chart.

In this chart, the only differences between the two states are the names of variables.

Model with Atomic Subcharts

You create a single state and convert it to an atomic subchart, which you store in a new
library. From that library, you can copy and paste the atomic subchart for use in any
chart. Then update the mapping of inputs, outputs, local data, or parameters as needed.

14-5
14 Make States Reusable with Atomic Subcharts

This modeling method minimizes maintenance of similar states. When you modify the
atomic subchart in the library, your changes propagate automatically to the links in all
charts and models.

For more information, see Reuse a State Multiple Times in a Chart on page 14-39.

Comparison of Simulation Methods

The following sections compare two ways of simulating a chart.

Simulation Without Atomic Subcharts

You make a small change to one part of a chart that contains many states or several
levels of hierarchy. When you start simulation to test that change, recompilation occurs
for the entire chart.

Because recompiling the entire chart takes a long time, you make several changes before
testing. However, if you find an error, you must step through all your changes to identify
what causes the error.

Simulation With Atomic Subcharts

You make a small change to an atomic subchart in a chart that contains many states or
several levels of hierarchy. When you start simulation to test that change, recompilation
occurs only for the atomic subchart.

Incremental builds for simulation decrease the time required to recompile the chart. This
reduction enables you to test each change, one by one, instead of waiting to test multiple
changes. By testing each change individually, you can quickly identify a change that
causes an error.

14-6
 Benefits of Using Atomic Subcharts

For more information, see Reduce the Compilation Time of a Chart on page 14-48.

Comparison of Editing Methods

The following sections compare two ways of editing a chart.

Edit Without Atomic Subcharts

You edit one part of a chart, while someone else edits another part of the same chart. At
submission time, you merge your changes.

Edit With Atomic Subcharts

You store one part of a chart as an atomic subchart in a library. You edit that subchart
separately, while someone else edits the main chart. At submission time, no merge is
necessary because the changes exist in separate models.

For more information, see Divide a Chart into Separate Units on page 14-50.

Comparison of Code Generation Methods

The following sections compare two ways of generating code.

Code Generation Without Atomic Subcharts

You generate code for the entire model in one file and look through that entire file to find
code for a specific part of the chart.

14-7
14 Make States Reusable with Atomic Subcharts

Code Generation With Atomic Subcharts

You specify code generation parameters so that code for an atomic subchart appears in
a separate file. This method of code generation enables unit testing for a specific part of
a chart. You can avoid searching through unrelated code and focus only on the part that
interests you.

14-8
 Benefits of Using Atomic Subcharts

Note: Unreachable Stateflow states are optimized out and are not included in the
generated code.

14-9
14 Make States Reusable with Atomic Subcharts

For more information, see Generate Reusable Code for Unit Testing on page 14-53.

14-10
 Restrictions for Converting to Atomic Subcharts

Restrictions for Converting to Atomic Subcharts

In this section...
Rationale for Restrictions on page 14-11
Access to Data, Graphical Functions, and Events on page 14-11
Use of Event Broadcasts on page 14-11
Access to Local Data with a Nonzero First Index on page 14-12
Use of Machine-Parented Data on page 14-12
Use of Strong Data Typing with Simulink Inputs and Outputs on page 14-12
Use of Supertransitions on page 14-12
Use of Masked Library Chart on page 14-12

Rationale for Restrictions

Atomic subcharts facilitate the reuse of states and subcharts as standalone objects. The
restrictions in the following sections help you get the benefits described in Benefits of
Using Atomic Subcharts on page 14-5.

Access to Data, Graphical Functions, and Events

To convert a state or subchart to an atomic subchart, access to objects not parented by
the state or subchart must be one of the following:

Chart-level data
Chart-level graphical functions
Input events

If the state or subchart accesses a chart-level graphical function, the chart must export
that function. For more information, see Export Stateflow Functions for Reuse on page
7-34.

Do not export graphical functions from an atomic subchart that maps variables to
variables at the main chart level with a different scope.

Use of Event Broadcasts

The state or subchart that you want to convert to an atomic subchart cannot refer to:

14-11
14 Make States Reusable with Atomic Subcharts

Local events that are outside the scope of that state or subchart
Output events

However, the state or subchart you want to convert can refer to input events.

Access to Local Data with a Nonzero First Index

The state or subchart that you want to convert to an atomic subchart cannot access local
data where the First index property is nonzero. For the conversion process to work, the
First index property of the local data must be zero, which is the default value.

Use of Machine-Parented Data

The state or subchart that you want to convert to an atomic subchart cannot reside in a
chart that uses machine-parented data with the following properties:

Imported or exported
Is 2-D or higher, or uses a fixed-point type

Machine-parented data with these properties prevent reuse of generated code and other
code optimizations.

Use of Strong Data Typing with Simulink Inputs and Outputs

To convert a state or subchart to an atomic subchart, your chart must use strong data
typing with Simulink inputs and outputs. To specify strong data typing:

1 Open the Chart properties dialog box.

2 Select Use Strong Data Typing with Simulink I/O.
3 Click OK to close the dialog box.

Use of Supertransitions
The state or subchart that you want to convert to an atomic subchart cannot have any
supertransitions crossing the boundary.

Use of Masked Library Chart

You cannot use a masked library chart containing mask parameters as an atomic
subchart.

14-12
 Convert to and from Atomic Subcharts

Convert to and from Atomic Subcharts

In this section...
Convert a State or Subchart to an Atomic Subchart on page 14-13
Convert an Atomic Subchart to a State or Subchart on page 14-16
Restrictions for Converting an Atomic Subchart to a State or Subchart on page
14-16

Convert a State or Subchart to an Atomic Subchart

To convert a state or subchart to an atomic subchart, right-click the object in your chart
and select Group & Subchart > Atomic Subchart.

After you convert a state or subchart to an atomic subchart, local data appears as data
store memory in the atomic subchart.

Scope of Data Before Conversion Scope of Data After Conversion

Input Input
Output Output
Local Data store memory
Parameter Parameter
Constant Constant

You cannot convert a chart or state containing a message to an atomic subchart.

An atomic subchart looks opaque like a regular subchart but includes the label (Atomic)
in the upper-left corner. If you use a linked atomic subchart from a library, the label
(Link) appears in the upper-left corner.

For example, the following model contains a chart, Air Controller, that uses an atomic
subchart:

14-13
14 Make States Reusable with Atomic Subcharts

In the Air Controller chart, PowerOn is an atomic subchart, but PowerOff is a regular
subchart:

14-14
Convert to and from Atomic Subcharts

14-15
14 Make States Reusable with Atomic Subcharts

Convert an Atomic Subchart to a State or Subchart

When an Atomic Subchart Is a Library Link

To convert a linked atomic subchart back to a state or subchart:

1 Right-click the atomic subchart and select Library Link > Disable Link.
2 Follow the steps in When an Atomic Subchart Is Not a Library Link on page
14-16.

When an Atomic Subchart Is Not a Library Link

To convert an atomic subchart back to... Follow these steps...

A state 1 Right-click the atomic subchart in
your chart and clear the Group &
Subchart > Atomic Subchart check
box.
2 Right-click the object again and clear
the Group & Subchart > Subchart
check box.

You might need to rearrange graphical

objects in your chart after performing
this step.
A regular subchart 1 Right-click the atomic subchart in
your chart and clear the Group &
Subchart > Atomic Subchart check
box.

Restrictions for Converting an Atomic Subchart to a State or Subchart

In the following cases, converting an atomic subchart to a state or subchart does not
work:

Your atomic subchart uses a MATLAB function and does not map a variable to a
variable of the same name in the chart.
A parameter in the atomic subchart maps to something other than a single variable.
For example, the following mappings for a parameter named data1 prevent
conversion of an atomic subchart to a state or subchart:

14-16
 Convert to and from Atomic Subcharts

data2 + 3
data2.3
data2(3)
3

For more information, see Map Variables for Atomic Subcharts on page 14-18.

14-17
14 Make States Reusable with Atomic Subcharts

Map Variables for Atomic Subcharts

In this section...
How to Map Variables in an Atomic Subchart on page 14-18
Map Input and Output Data for an Atomic Subchart on page 14-19
Map Data Store Memory for an Atomic Subchart on page 14-22
Map Parameter Data for an Atomic Subchart on page 14-25
Map Input Events for an Atomic Subchart on page 14-29

How to Map Variables in an Atomic Subchart

To ensure that each variable in your atomic subchart maps to the correct variable in the
main chart, edit the mapping (or parameterize the link). In the State properties dialog
box, select the Mappings tab on the State properties dialog box, and choose a mapping
for each data and input event.

You can map a variable in the atomic subchart to a variable in the main chart with the
same or different scope. These mappings are supported.

Atomic Subchart Variable Scope Main Chart Variable Scope

Input Input, Output, Local, Parameter
Output Output, Local
Data Store Memory Data Store Memory, Local
Parameter Parameter

You can map a variable in an atomic subchart to an element of a bus in the main chart.

When you map a data store memory in an atomic subchart to a chart-level local data of
enumerated type, you have two options for specifying the initial value of the data store
memory:

Set the Initial value field for the chart-level local data in the Data properties dialog
box.
Leave the Initial value field empty so that the default value of the enumerated type
applies.

14-18
 Map Variables for Atomic Subcharts

Map Input and Output Data for an Atomic Subchart

Suppose that you have a model with two Sine Wave blocks that supply input signals to a
chart.

Your chart contains two linked atomic subcharts from the same library.

Both atomic subcharts contain the following objects.

If you simulate the model, the output for y2 is zero.

14-19
14 Make States Reusable with Atomic Subcharts

Because atomic subchart B uses u1 and y1 instead of u2 and y2, you must edit the
mapping:

1 Right-click subchart B and select Properties.

2 Click the Mappings tab in the dialog box.

14-20
Map Variables for Atomic Subcharts

14-21
14 Make States Reusable with Atomic Subcharts

3 Under Input Mapping, specify the main chart symbol for u1 to be u2.
4 Under Output Mapping, specify the main chart symbol for y1 to be y2.
5 Click OK.

When you run the model again, you get the following results.

Map Data Store Memory for an Atomic Subchart

Suppose that you have a model with two Sine Wave blocks that supply input signals to a
chart.

14-22
 Map Variables for Atomic Subcharts

Your chart contains a linked atomic subchart from a library.

The linked atomic subchart contains the following objects.

If you simulate the model, you get an error because the data store memory, dsm, does not
map to any variable in the main chart. To fix the mapping for dsm:

1 Right-click subchart A and select Properties.

2 Click the Mappings tab in the dialog box.

14-23
14 Make States Reusable with Atomic Subcharts

14-24
 Map Variables for Atomic Subcharts

3 Under Data Store Memory Mapping, specify the main chart symbol for dsm to be
local_for_atomic_subchart. You can specify either data store memory or chart-
level local data from the main chart. For chart-level local data, the First index
property must be zero.
4 Click OK.

When you run the model now, you get the following results.

Map Parameter Data for an Atomic Subchart

Suppose that you have a model with two Sine Wave blocks that supply input signals to a
chart.

14-25
14 Make States Reusable with Atomic Subcharts

Your chart contains a linked atomic subchart from a library:

The linked atomic subchart contains the following objects.

If you simulate the model, you get an error because the parameter T is undefined. To
fix this error, specify an expression for T to evaluate in the mask workspace of the main
chart:

14-26
 Map Variables for Atomic Subcharts

1 Right-click subchart A and select Properties.

2 Click the Mappings tab in the dialog box that appears.

14-27
14 Make States Reusable with Atomic Subcharts

14-28
 Map Variables for Atomic Subcharts

3 Under Parameter Mapping, enter 0.2.

4 Click OK.

When you run the model now, you get the following results.

Map Input Events for an Atomic Subchart

The sf_yoyo model contains a Mux block that supplies input events to a chart.

14-29
14 Make States Reusable with Atomic Subcharts

The chart contains two superstates: Active and Inactive. The Active state uses input
events to guard transitions between different substates.

14-30
 Map Variables for Atomic Subcharts

To convert the Active state to an atomic subchart, follow these steps:

1 Right-click the Active state and select Group & Subchart > Atomic Subchart.
2 Specify the mapping of input events for the atomic subchart.

a Right-click the atomic subchart and select Properties.

b Click the Mappings tab in the dialog box.

14-31
14 Make States Reusable with Atomic Subcharts

14-32
 Map Variables for Atomic Subcharts

c Under Input Event Mapping, note that each atomic subchart symbol maps to
the correct input event in the main chart.

The default mappings also follow the rules of using input events in atomic
subcharts. For more information, see Rules for Using Atomic Subcharts on
page 14-36
d Click OK.

14-33
14 Make States Reusable with Atomic Subcharts

Generate Reusable Code for Atomic Subcharts

In this section...
How to Generate Reusable Code for Linked Atomic Subcharts on page 14-34
How to Generate Reusable Code for Unlinked Atomic Subcharts on page 14-35

How to Generate Reusable Code for Linked Atomic Subcharts

To specify code generation parameters for linked atomic subcharts from the same library:

1 Open the library model that contains your atomic subchart.

2 Unlock the library.
3 Right-click the library chart and select Block Parameters.
4 In the dialog box, specify the following parameters:

a On the Main tab, select Treat as atomic unit.

b On the Code Generation tab, set Function packaging to Reusable
function.
c Set File name options to User specified.
d For File name, enter the name of the file with no extension.
e Click OK to apply the changes.
5 (OPTIONAL) Customize the generated function names for atomic subcharts:

a Open the Model Configuration Parameters dialog box.

b On the Code Generation pane, set System target file to ert.tlc.
c Navigate to the Code Generation > Symbols pane.
d For Subsystem methods, specify the format of the function names using a
combination of the following tokens:

$R root model name

$F type of interface function for the atomic subchart
$N block name
$H subsystem index
$M name-mangling text

14-34
 Generate Reusable Code for Atomic Subcharts

e Click OK to apply the changes.

When you generate code for your model, a separate file stores the code for linked atomic
subcharts from the same library.

How to Generate Reusable Code for Unlinked Atomic Subcharts

To specify code generation parameters for an unlinked atomic subchart:

1 In your chart, right-click the atomic subchart and select Properties.

2 In the dialog box, specify the following parameters:

a Set Code generation function packaging to Reusable function.

b Set Code generation file name options to User specified.
c For Code generation file name, enter the name of the file with no extension.
d Click OK to apply the changes.
3 (OPTIONAL) Customize the generated function names for atomic subcharts:

a Open the Model Configuration Parameters dialog box.

b On the Code Generation pane, set System target file to ert.tlc.
c Navigate to the Code Generation > Symbols pane.
d For Subsystem methods, specify the format of the function names using a
combination of the following tokens:

$R root model name

$F type of interface function for the atomic subchart
$N block name
$H subsystem index
$M name-mangling text
e Click OK to apply the changes.

When you generate code for your model, a separate file stores the code for the atomic
subchart. For more information, see Generate Reusable Code for Unit Testing on page
14-53.

14-35
14 Make States Reusable with Atomic Subcharts

Rules for Using Atomic Subcharts

Define data in an atomic subchart explicitly

Be sure to define data that appears in an atomic subchart explicitly in the main chart.
For instructions on how to define data in a chart, see Add Data Through the Model
Explorer on page 8-3.

Map variables of linked atomic subcharts

When you use linked atomic subcharts, map the variables so that data in the subchart
correspond to the correct data in the main chart. For more information, see Map
Variables for Atomic Subcharts on page 14-18.

Match size, type, and complexity of variables in linked atomic subcharts

Verify that the size, type, and complexity of variables in a subchart match the settings of
the corresponding variables in the main chart. For more information, see Map Variables
for Atomic Subcharts on page 14-18.

Export chart-level functions if called from an atomic subchart

If your atomic subchart contains a function call to a chart-level function, export that
function by selecting Export Chart Level Functions. Do not export graphical functions
from an atomic subchart that maps variables to variables at the main chart level with
a different scope. For more information, see Export Stateflow Functions for Reuse on
page 7-34.

Do not mix edge-triggered and function-call input events in the same atomic subchart

Input events in an atomic subchart must all use edge-triggered type, or they must all use
function-call type. This restriction is consistent with the behavior for the container chart.
For more information, see Best Practices for Using Events in Stateflow Charts on page
9-40.

Do not map multiple input events in an atomic subchart to the same input event in the container
chart

Each input event in an atomic subchart must map to a unique input event in the
container chart. You can verify unique mappings of input events by opening the
properties dialog box for the atomic subchart and checking the Input Event Mapping
section of the Mappings tab.

14-36
 Rules for Using Atomic Subcharts

Do not log signals from atomic subcharts that map variables with different scopes

If an atomic subchart maps variables to variables at the main chart level with a different
scope, you cannot log signals for the chart.

Match the trigger type when mapping input events

Each input event in an atomic subchart must map to an input event of the same trigger
type in the container chart.

Do not use atomic subcharts in continuous-time Stateflow charts

Continuous-time charts do not support atomic subcharts.

Do not use Moore charts as atomic subcharts

Moore charts do not have the same simulation behavior as Classic Stateflow charts with
the same constructs.

Do not use outgoing transitions when an atomic subchart uses top-level local events

You cannot use outgoing transitions from an atomic subchart that uses local events at
the top level of the subchart. Using this configuration causes a simulation error.

Avoid using execute-at-initialization with atomic subcharts

You get a warning when the following conditions are true:

The chart property Execute (enter) Chart At Initialization is enabled.

The default transition path of the chart reaches an atomic subchart.

If an entry action inside the atomic subchart requires access to a chart input or data
store memory, you might get inaccurate results. To avoid this warning, you can disable
Execute (enter) Chart At Initialization or redirect the default transition path away
from the atomic subchart.

For more information about execute-at-initialization behavior, see Execution of a Chart

at Initialization on page 3-55.

Avoid using the names of subsystem parameters in atomic subcharts

If a parameter in an atomic subchart matches the name of a Simulink built-in subsystem

parameter, the only mapping allowed for that parameter is Inherited. Specifying any

14-37
14 Make States Reusable with Atomic Subcharts

other parameter mapping in the Mappings tab of the properties dialog box causes an
error. You can, however, change the parameter value at the MATLAB prompt so that all
instances of that parameter have the same value.

To get a list of Simulink subsystem parameters, enter:

param_list = sort(fieldnames(get_param('built-in/subsystem', 'ObjectParameters')));

Restrict use of machine-parented data

If your chart contains atomic subcharts, do not use machine-parented data with the
following properties:

Imported or exported
Is 2-D or higher, or uses fixed-point type

Machine-parented data with these properties prevent reuse of generated code and other
code optimizations.

Do not change the first index of local data to a nonzero value

When a data store memory in an atomic subchart maps to chart-level local data, the
First index property of the local data must remain zero. If you change First index to a
nonzero value, an error occurs when you try to update the diagram.

Use consistent settings for super-step semantics

When you use linked atomic subcharts, verify that your settings for super-step semantics
match the settings in the main chart. For more information, see Execution of a Chart
with Super Step Semantics on page 3-47.

14-38
 Reuse a State Multiple Times in a Chart

Reuse a State Multiple Times in a Chart

In this section...
Goal of the Tutorial on page 14-39
Edit a Model to Use Atomic Subcharts on page 14-41
Run the New Model on page 14-46
Propagate a Change in the Library Chart on page 14-46

Goal of the Tutorial

Assume that you have the following model:

The top Sine Wave block uses a frequency of 1 radian per second, and the bottom Sine
Wave block uses a frequency of 2 radians per second. The blocks use the same amplitude
(1) and phase shift (0).

In the chart, each state uses saturator logic to convert the input sine wave to an output
square wave of the same frequency. The states perform the same actions and differ only
in the names of input and output data:

14-39
14 Make States Reusable with Atomic Subcharts

When you run the model, you get the following results:

14-40
 Reuse a State Multiple Times in a Chart

Suppose that you want to reuse the contents of state A in the chart. You can convert that
state to an atomic subchart and then use multiple linked instances of that subchart in
your chart.

Edit a Model to Use Atomic Subcharts

The sections that follow describe how to replace states in your chart with atomic
subcharts. This procedure enables reuse of the same object in your model while retaining
the same simulation results.

Step Task Reference

1 Change one of the states into an atomic Convert a State to an Atomic
subchart. Subchart on page 14-42
2 Create a library that contains this Create a Library for the Atomic
atomic subchart. Subchart on page 14-42
3 Replace the states in your chart with Replace States with Linked Atomic
linked atomic subcharts. Subcharts on page 14-43

14-41
14 Make States Reusable with Atomic Subcharts

Step Task Reference

4 Edit the mapping of input and output Edit the Mapping of Input and Output
variables where necessary. Variables on page 14-43

Convert a State to an Atomic Subchart

To convert state A to an atomic subchart, right-click the state and select Group &
Subchart > Atomic Subchart. State A changes to an atomic subchart:

Create a Library for the Atomic Subchart

To enable reuse of the atomic subchart you created in Convert a State to an Atomic
Subchart on page 14-42, store the atomic subchart in a library:

1 Create a new library model.

2 Copy the atomic subchart and paste in your library.

The atomic subchart appears as a standalone chart with an input and an output.
This standalone property enables you to reuse the contents of the atomic subchart.

14-42
 Reuse a State Multiple Times in a Chart

3 Save your library model.

Replace States with Linked Atomic Subcharts

To replace the states in your chart with linked atomic subcharts:

1 Delete both states from the chart.

2 Copy the atomic subchart in your library and paste in your chart twice.
3 Rename the second instance as B.

Each linked atomic subchart appears opaque and contains the label Link in the
upper-left corner.

Edit the Mapping of Input and Output Variables

If you simulate the model now, the output for y2 is zero:

14-43
14 Make States Reusable with Atomic Subcharts

You also see warnings about unused data. These warnings appear because atomic
subchart B uses u1 and y1 instead of u2 and y2. To fix these warnings, you must edit the
mapping of input and output variables:

1 Open the properties dialog box for B.

2 Click the Mappings tab.

14-44
Reuse a State Multiple Times in a Chart

14-45
14 Make States Reusable with Atomic Subcharts

3 Under Input Mapping, select u2 from the drop-down list.

The input variable in your atomic subchart now maps to the correct input variable in
the main chart.
4 Under Output Mapping, select y2 from the drop-down list.

The output variable in your atomic subchart now maps to the correct output variable
in the main chart.
5 Click OK.

Run the New Model

When you simulate the new model, the results match those of the original design.

Propagate a Change in the Library Chart

Suppose that you edit the transition from Pos to Neg in the library chart:

14-46
 Reuse a State Multiple Times in a Chart

This change propagates to all linked atomic subcharts in your main chart. You do not
have to update each state individually.

14-47
14 Make States Reusable with Atomic Subcharts

Reduce the Compilation Time of a Chart

In this section...
Goal of the Tutorial on page 14-48
Edit a Model to Use Atomic Subcharts on page 14-49

Goal of the Tutorial

Assume that you have the following model, and the chart has two states:

14-48
 Reduce the Compilation Time of a Chart

Suppose that you want to reduce the compilation time of the chart for simulation. You
can convert state A to an atomic subchart. Then you can make changes, one by one, to
state A and see how each change affects simulation results. Making one change requires
recompilation of only the atomic subchart and not the entire chart.

Edit a Model to Use Atomic Subcharts

1 Right-click state A and select Group & Subchart > Atomic Subchart.
2 Double-click the atomic subchart.

The contents of the subchart appear in a separate window.

3 Start simulation.

Side-by-side animation for the main chart and the atomic subchart occurs.
4 In the atomic subchart, change the state action for Pos to y1 = 2.
5 Restart simulation.

Recompilation occurs only for the atomic subchart and not the entire chart.

14-49
14 Make States Reusable with Atomic Subcharts

Divide a Chart into Separate Units

In this section...
Goal of the Tutorial on page 14-50
Edit a Model to Use Atomic Subcharts on page 14-51

Goal of the Tutorial

Assume that you have the following model, and the chart has two states:

14-50
 Divide a Chart into Separate Units

Suppose that you want to edit state A separately, while someone else is editing state
B. You can convert state A to an atomic subchart for storage in a library model. After
replacing state A with a linked atomic subchart, you can make changes separately in
the library. These changes propagate automatically to the chart that contains the linked
atomic subchart.

Edit a Model to Use Atomic Subcharts

1 Right-click state A and select Group & Subchart > Atomic Subchart.
2 Create a new library model.
3 Copy the atomic subchart and paste in your library.

4 Save your library model.

5 In your main chart, delete state A.
6 Copy the atomic subchart in your library and paste in your main chart.

14-51
14 Make States Reusable with Atomic Subcharts

You can now edit state A separately from state B without any merge issues.

14-52
 Generate Reusable Code for Unit Testing

Generate Reusable Code for Unit Testing

In this section...
Goal of the Tutorial on page 14-53
Convert a State to an Atomic Subchart on page 14-54
Specify Code Generation Parameters on page 14-55
Generate Code for Only the Atomic Subchart on page 14-56

Goal of the Tutorial

Assume that you have the following model, and the chart has two states:

14-53
14 Make States Reusable with Atomic Subcharts

Suppose that you want to generate reusable code so that you can perform unit testing on
state A. You can convert that part of the chart to an atomic subchart and then specify a
separate file to store the generated code.

Convert a State to an Atomic Subchart

To convert state A to an atomic subchart, right-click the state and select Group &
Subchart > Atomic Subchart. State A changes to an atomic subchart:

14-54
 Generate Reusable Code for Unit Testing

Specify Code Generation Parameters

Set Up a Standalone C File for the Atomic Subchart

1 Open the properties dialog box for A.

2 Set Code generation function packaging to Reusable function.
3 Set Code generation file name options to User specified.
4 For Code generation file name, enter saturator as the name of the file.
5 Click OK.

Set Up the Code Generation Report

1 Open the Model Configuration Parameters dialog box.

2 In the Code Generation pane, set System target file to ert.tlc.
3 In the Code Generation > Report pane, select Create code generation report.

This step automatically selects Open report automatically and Code-to-model

on the All Parameters tab.

14-55
14 Make States Reusable with Atomic Subcharts

4 Select Model-to-code on the All Parameters tab.

5 Click Apply.

Customize the Generated Function Names

1 In the Model Configuration Parameters dialog box, go to the Code Generation >
Symbols pane.
2 Set Subsystem methods to the format scheme $R$N$M$F, where:

$R is the root model name.

$N is the block name.
$M is the mangle token.
$F is the type of interface function for the atomic subchart.

For more information, see Subsystem methods (Simulink Coder).

3 Click Apply.

Generate Code for Only the Atomic Subchart

To generate code for your model, press Ctrl+B. In the code generation report that
appears, you see a separate file that contains the generated code for the atomic subchart.

To inspect the code for saturator.c, click the hyperlink in the report to see the
following code:

14-56
 Generate Reusable Code for Unit Testing

Line 28 shows that the during function generated for the atomic subchart has the
name ex_reuse_states_A_during. This name follows the format scheme $R$N$M$F
specified for Subsystem methods:

14-57
14 Make States Reusable with Atomic Subcharts

$R is the root model name, ex_reuse_states.

$N is the block name, A.
$M is the mangle token, which is empty.
$F is the type of interface function for the atomic subchart, during.

Note: The line numbers shown can differ from the numbers that appear in your code
generation report.

14-58
 15

Save and Restore Simulations with

SimState

What Is a SimState? on page 15-2

Benefits of Using a Snapshot of the Simulation State on page 15-4
Divide a Long Simulation into Segments on page 15-5
Test a Unique Chart Configuration on page 15-10
Test a Chart with Fault Detection and Redundant Logic on page 15-20
Methods for Interacting with the SimState of a Chart on page 15-34
Rules for Using the SimState of a Chart on page 15-37
Best Practices for Using the SimState of a Chart on page 15-40
15 Save and Restore Simulations with SimState

What Is a SimState?
A SimState is the snapshot of the state of a model at a specific time during simulation.
For a Stateflow chart, a SimState includes the following information:

Activity of chart states

Values of chart local data
Values of chart output data
Values of persistent data in MATLAB functions and Truth Table blocks

A SimState lists chart objects in hierarchical order:

Graphical objects grouped by type (box, function, or state) and in alphabetical order
within each group
Chart data grouped by scope (block output or local) and in alphabetical order within
each group

For example, the following SimState illustrates the hierarchical structure of chart
objects.

c =

Block: "shift_logic" (handle) (active)

Path: sf_car/shift_logic

Contains:

+ gear_state "State (AND)" (active)

+ selection_state "State (AND)" (active)
gear "State output data" gearType [1, 1]
down_th "Local scope data" double [1, 1]
up_th "Local scope data" double [1, 1]

The tree structure maps graphical and nongraphical objects to their respective locations
in the chart hierarchy. If name conflicts exist, one or more underscores appear at the end
of a name so that all objects have unique identifiers in the SimState hierarchy.

Note: Stateless flow charts have an empty SimState, because they do not contain states
or persistent data.

15-2
 What Is a SimState?

For information about using a SimState for other blocks in a Simulink model, see Save
and Restore Simulation State as SimState (Simulink).

15-3
15 Save and Restore Simulations with SimState

Benefits of Using a Snapshot of the Simulation State

In this section...
Division of a Long Simulation into Segments on page 15-4
Test of a Chart Response to Different Settings on page 15-4

Division of a Long Simulation into Segments

You can save the complete simulation state of a model at any time during a long
simulation. Then you can load that simulation state and run specific segments of that
simulation without starting from time t = 0, which saves time.

For directions, see Divide a Long Simulation into Segments on page 15-5.

Test of a Chart Response to Different Settings

You can load and modify the simulation state of a chart to test the response to different
settings. You can change the value of chart local or output data midway through a
simulation or change state activity and then test how a chart responds.

Loading and modifying the simulation state provides these benefits:

Enables testing of a hard-to-reach chart configuration by loading a specific simulation

state, which promotes thorough testing
Enables testing of the same chart configuration with different settings, which
promotes reuse of a simulation state

For directions, see:

Test a Unique Chart Configuration on page 15-10

Test a Chart with Fault Detection and Redundant Logic on page 15-20

15-4
 Divide a Long Simulation into Segments

Divide a Long Simulation into Segments

In this section...
Goal of the Tutorial on page 15-5
Define the SimState on page 15-6
Load the SimState on page 15-7
Simulate the Specific Segment on page 15-8

Goal of the Tutorial

Suppose that you want to simulate the sf_boiler model without starting from t = 0.

This model simulates for 1400 seconds, but the output that interests you occurs sometime
between t = 400 and 600. You can simulate the model, save the SimState at time t = 400,
and then load that SimState for simulation between t = 400 and 600.

Step Task Reference

1 Define the SimState for your chart. Define the SimState on page 15-6
2 Load the SimState for your chart. Load the SimState on page 15-7
3 Simulate the specific segment. Simulate the Specific Segment on page
15-8

15-5
15 Save and Restore Simulations with SimState

Define the SimState

1 Open the model.

Type sf_boiler at the command prompt.

2 Enable saving of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Final states check box.
c Enter a name, such as sf_boiler_ctx01.
d Select the Save complete SimState in final state check box.
e Click Apply.

Programmatic equivalent

You can programmatically enable saving of a SimState:

set_param('sf_boiler','SaveFinalState','on', ...
'FinalStateName', ['sf_boiler_ctx01'], ...
'SaveCompleteFinalSimState','on');

For details about setting model parameters, see set_param.

3 Define the start and stop times for this simulation segment.

a In the Model Configuration Parameters dialog box, go to the Solver pane.

b For Start time, enter 0.
c For Stop time, enter 400.
d Click OK.

Programmatic equivalent

You can programmatically set the start and stop times:

set_param('sf_boiler','StartTime','0', ...
'StopTime','400');
4 Start simulation.

15-6
 Divide a Long Simulation into Segments

When you simulate the model, you save the complete simulation state at t = 400 in
the variable sf_boiler_ctx01 in the MATLAB base workspace.
5 Disable saving of a SimState.

This step prevents you from overwriting the SimState you saved in the previous
step.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Clear the Save complete SimState in final state check box.
c Clear the Final states check box.
d Click OK.

Programmatic equivalent

You can programmatically disable saving of a SimState:

set_param('sf_boiler','SaveCompleteFinalSimState','off', ...
'SaveFinalState','off');

Load the SimState

1 Enable loading of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Initial state check box.
c Enter the variable that contains the SimState of your chart: sf_boiler_ctx01.
d Click Apply.

Programmatic equivalent

You can programmatically enable loading of a SimState:

set_param('sf_boiler','LoadInitialState','on', ...
'InitialState', ['sf_boiler_ctx01']);
2 Define the new stop time for this simulation segment.

a In the Model Configuration Parameters dialog box, go to the Solver pane.

15-7
15 Save and Restore Simulations with SimState

b For Stop time, enter 600.

c Click OK.

You do not need to enter a new start time because the simulation continues from
where it left off.

Programmatic equivalent

You can programmatically set the new stop time:

set_param('sf_boiler','StopTime','600');

Simulate the Specific Segment

When you simulate the model, the following output appears in the Scope block.

15-8
Divide a Long Simulation into Segments

15-9
15 Save and Restore Simulations with SimState

Test a Unique Chart Configuration

In this section...
Goal of the Tutorial on page 15-10
Define the SimState on page 15-11
Load the SimState and Modify Values on page 15-14
Test the Modified SimState on page 15-18

Goal of the Tutorial

Suppose that you want to test the response of the old_sf_car model to a sudden change
in value for gear.

This model simulates for 30 seconds, but you want to see what happens when the value
of gear changes at t = 10. You can simulate the model, save the SimState at t = 10, load
and modify the SimState, and then simulate again between t = 10 and 20.

Step Task Reference

1 Define the SimState for your chart. Define the SimState on page 15-11

15-10
 Test a Unique Chart Configuration

Step Task Reference

2 Load the SimState and modify values. Load the SimState and Modify Values
on page 15-14
3 Test the modified SimState by running Test the Modified SimState on page
the model. 15-18

Define the SimState

1 Open the model.

Type old_sf_car at the command prompt.

2 Enable saving of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Final states check box.
c Enter a name, such as old_sf_car_ctx01.
d Select the Save complete SimState in final state check box.
e Click Apply.

Programmatic equivalent

You can programmatically enable saving of a SimState:

set_param('old_sf_car','SaveFinalState','on', ...
'FinalStateName', ['old_sf_car_ctx01'], ...
'SaveCompleteFinalSimState','on');

For details about setting model parameters, see set_param.

3 Define the start and stop times for this simulation segment.

a In the Model Configuration Parameters dialog box, go to the Solver pane.

b For Start time, enter 0.
c For Stop time, enter 10.
d Click OK.

15-11
15 Save and Restore Simulations with SimState

Programmatic equivalent

You can programmatically set the start and stop times:

set_param('old_sf_car','StartTime','0', ...
'StopTime','10');
4 Start simulation.

When you simulate the model, you save the complete simulation state at t = 10 in
the variable old_sf_car_ctx01 in the MATLAB base workspace.

At t = 10, the engine is operating at a steady-state value of 2500 RPM.

15-12
Test a Unique Chart Configuration

15-13
15 Save and Restore Simulations with SimState

5 Disable saving of a SimState.

This step prevents you from overwriting the SimState you saved in the previous
step.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Clear the Save complete SimState in final state check box.
c Clear the Final states check box.
d Click OK.

Programmatic equivalent

You can programmatically disable saving of a SimState:

set_param('old_sf_car','SaveCompleteFinalSimState','off', ...
'SaveFinalState','off');

Load the SimState and Modify Values

1 Enable loading of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Initial state check box.
c Enter the variable that contains the SimState of your chart:
old_sf_car_ctx01.
d Click OK.

Programmatic equivalent

You can programmatically enable loading of a SimState:

set_param('old_sf_car','LoadInitialState','on', ...
'InitialState', ['old_sf_car_ctx01']);
2 Define an object handle for the SimState values of the shift_logic chart.

At the command prompt, type:

blockpath = 'old_sf_car/shift_logic';

15-14
 Test a Unique Chart Configuration

c = old_sf_car_ctx01.getBlockSimState(blockpath);

Tip: If the chart appears highlighted in the model window, you can specify the block
path using gcb:

c = old_sf_car_ctx01.getBlockSimState(gcb);

What does the getBlockSimState method do?

The getBlockSimState method:

Makes a copy of the SimState of your chart, which is stored in the final state data
of the model.
Provides a root-level handle or reference to the copy of the SimState, which is a
hierarchical tree of graphical and nongraphical chart objects.

Each node in this tree is also a handle to a state, data, or other chart object.

Note: Because the entire tree consists of object handles, the following assignment
statements do not work:

stateCopy = c.state
dataCopy = c.data
simstateCopy = c

These assignments create copies of the object handles, not SimState values. The only
way to copy SimState values is to use the clone method. For details, see Methods
for Interacting with the SimState of a Chart on page 15-34 and Rules for Using
the SimState of a Chart on page 15-37.
3 Look at the contents of the SimState.

c =

Block: "shift_logic" (handle) (active)

Path: old_sf_car/shift_logic

Contains:

15-15
15 Save and Restore Simulations with SimState

+ gear_state "State (AND)" (active)

+ selection_state "State (AND)" (active)
gear "Block output data" double [1, 1]

The SimState of your chart contains a list of states and data in hierarchical order.
4 Highlight the states that are active in your chart at t = 10.

At the command prompt, type:

c.highlightActiveStates;

In the chart, all active states appear highlighted.

Tip: To check if a single state is active, you can use the isActive method. For
example, type:

c.gear_state.fourth.isActive

15-16
 Test a Unique Chart Configuration

This command returns true (1) when a state is active and false (0) otherwise. For
information on other methods, see Methods for Interacting with the SimState of a
Chart on page 15-34.
5 Change the active substate of selection_state to downshifting.

Use this command:

c.selection_state.downshifting.setActive;

The newly active substate appears highlighted in the chart.

6 Change the value of output data gear.

When you type c.gear at the command prompt, you see a list of data properties
similar to this:
>> c.gear

ans =

Description: 'Block output data'

15-17
15 Save and Restore Simulations with SimState

DataType: 'double'
Size: '[1, 1]'
Range: [1x1 struct]
InitialValue: [1x0 double]
Value: 4

You can change the value of gear from 4 to 1 by typing

c.gear.Value = 1;
However, you cannot change the data type or size of gear. Also, you cannot specify
a new value that falls outside the range set by the Minimum and Maximum
parameters. For details, see Rules for Modifying Data Values on page 15-37 .
7 Save the modified SimState.

Use this command:

old_sf_car_ctx01 = old_sf_car_ctx01.setBlockSimState(blockpath, c);

Test the Modified SimState

1 Define the new stop time for the simulation segment to test.

a In the Model Configuration Parameters dialog box, go to the Solver pane.

b For Stop time, enter 20.
c Click OK.

You do not need to enter a new start time because the simulation continues from
where it left off.

Programmatic equivalent

You can programmatically set the stop time:

set_param('old_sf_car','StopTime','20');
2 Start simulation.

The engine reacts as follows:

15-18
Test a Unique Chart Configuration

15-19
15 Save and Restore Simulations with SimState

Test a Chart with Fault Detection and Redundant Logic

In this section...
Goal of the Tutorial on page 15-20
Define the SimState on page 15-23
Modify SimState Values for One Actuator Failure on page 15-24
Test the SimState for One Failure on page 15-28
Modify SimState Values for Two Actuator Failures on page 15-31
Test the SimState for Two Failures on page 15-32

Goal of the Tutorial

Suppose that you want to test the response of the sf_aircraft model to one or more
actuator failures in an elevator system. (For details of how this model works, see the
description for Modeling Fault Management Control Logic in an Aircraft Elevator
Control System.)

The Mode Logic chart monitors the status of actuators for two elevators. Each elevator
has an outer (primary) actuator and an inner (secondary) actuator. In normal operation,
the outer actuators are active and the inner actuators are on standby.

15-20
 Test a Chart with Fault Detection and Redundant Logic

When the four actuators are working correctly, the left and right elevators reach steady-
state positions in 3 seconds.

15-21
15 Save and Restore Simulations with SimState

Suppose that you want to see what happens at t = 3 when at least one actuator fails. You
can simulate the model, save the SimState at t = 3, load and modify the SimState, and
then simulate again between t = 3 and 10.

Step Task Reference

1 Define the SimState for your chart. Define the SimState on page 15-23

15-22
 Test a Chart with Fault Detection and Redundant Logic

Step Task Reference

2 Load the SimState and modify values Modify SimState Values for One
for one actuator failure. Actuator Failure on page 15-24
3 Test the modified SimState by running Test the SimState for One Failure on
the model. page 15-28
4 Modify SimState values for two Modify SimState Values for Two
actuator failures. Actuator Failures on page 15-31
5 Test the modified SimState by running Test the SimState for Two Failures on
the model again. page 15-32

Define the SimState

1 Open the model.

Type sf_aircraft at the command prompt.

2 Enable saving of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Final states check box.
c Enter a name, such as xFinal.
d Select the Save complete SimState in final state check box.
e Click Apply.

Programmatic equivalent

You can programmatically enable saving of a SimState:

set_param('sf_aircraft','SaveFinalState','on', ...
'FinalStateName', ['xFinal'], ...
'SaveCompleteFinalSimState','on');

For details about setting model parameters, see set_param.

3 Define the stop time for this simulation segment.

a In the Model Configuration Parameters dialog box, go to the Solver pane.

b For Stop time, enter 3.

15-23
15 Save and Restore Simulations with SimState

c Click OK.

Programmatic equivalent

You can programmatically set the stop time:

set_param('sf_aircraft','StopTime','3');
4 Start simulation.

When you simulate the model, you save the complete simulation state at t = 3 in the
variable xFinal in the MATLAB base workspace.
5 Disable saving of a SimState.

This step prevents you from overwriting the SimState you saved in the previous
step.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Clear the Save complete SimState in final state check box.
c Clear the Final states check box.
d Click OK.

Programmatic equivalent

You can programmatically disable saving of a SimState:

set_param('sf_aircraft','SaveCompleteFinalSimState','off', ...
'SaveFinalState','off');

Modify SimState Values for One Actuator Failure

1 Enable loading of a SimState.

a Open the Model Configuration Parameters dialog box and go to the Data
Import/Export pane.
b Select the Initial state check box.
c Enter the variable that contains the SimState of your chart: xFinal.
d Click OK.

15-24
 Test a Chart with Fault Detection and Redundant Logic

Programmatic equivalent

You can programmatically enable loading of a SimState:

set_param('sf_aircraft','LoadInitialState','on', ...
'InitialState', ['xFinal']);
2 Define an object handle for the SimState values of the Mode Logic chart.

At the command prompt, type:

blockpath = 'sf_aircraft/Mode Logic';

c = xFinal.getBlockSimState(blockpath);

Tip: If the chart appears highlighted in the model window, you can specify the block
path using gcb:

c = xFinal.getBlockSimState(gcb);

What does the getBlockSimState method do?

The getBlockSimState method:

Makes a copy of the SimState of your chart, which is stored in the final state data
of the model.
Provides a root-level handle or reference to the copy of the SimState, which is a
hierarchical tree of graphical and nongraphical chart objects.

Each node in this tree is also a handle to a state, data, or other chart object.

Note: Because the entire tree consists of object handles, the following assignment
statements do not work:

stateCopy = c.state
dataCopy = c.data
simstateCopy = c

These assignments create copies of the object handles, not SimState values. The only
way to copy SimState values is to use the clone method. For details, see Methods

15-25
15 Save and Restore Simulations with SimState

for Interacting with the SimState of a Chart on page 15-34 and Rules for Using
the SimState of a Chart on page 15-37.
3 Look at the contents of the SimState.

c =

Block: "Mode Logic" (handle) (active)

Path: sf_aircraft/Mode Logic

Contains:

+ Actuators "State (OR)" (active)

+ LI_act "Function"
+ LO_act "Function"
+ L_switch "Function"
+ RI_act "Function"
+ RO_act "Function"
+ R_switch "Function"
+ LI_mode "State output data" sf_aircraft_ModeType [1,1]
+ LO_mode "State output data" sf_aircraft_ModeType [1,1]
+ RI_mode "State output data" sf_aircraft_ModeType [1,1]
+ RO_mode "State output data" sf_aircraft_ModeType [1,1]

The SimState of your chart contains a list of states, functions, and data in
hierarchical order.
4 Highlight the states that are active in your chart at t = 3.

At the command prompt, type:

c.highlightActiveStates;

Active states appear highlighted. By default, the two outer actuators are active and
the two inner actuators are on standby.

15-26
 Test a Chart with Fault Detection and Redundant Logic

Tip: To check if a single state is active, you can use the isActive method. For
example, type:

c.Actuators.LI.L1.Standby.isActive

This command returns true (1) when a state is active and false (0) otherwise. For
information on other methods, see Methods for Interacting with the SimState of a
Chart on page 15-34.
5 Change the state activity in the chart to reflect one actuator failure.

Assume that the left outer (LO) actuator fails. To change the state, use this
command:

c.Actuators.LO.Isolated.setActive;

15-27
15 Save and Restore Simulations with SimState

The newly active substate appears highlighted in the chart.

The setActive method ensures that the chart exits and enters the appropriate
states to maintain state consistency. However, the method does not perform entry
actions for the newly active substate. Similarly, the method does not perform exit
actions for the previously active substate.
6 Save the modified SimState by using this command:

xFinal = xFinal.setBlockSimState(blockpath, c);

Test the SimState for One Failure

1 Define the new stop time for the simulation segment to test.

a Go to the Solver pane of the Model Configuration Parameters dialog box.

15-28
 Test a Chart with Fault Detection and Redundant Logic

b For Stop time, enter 10.

c Click OK.

You do not need to enter a new start time because the simulation continues from
where it left off.

Programmatic equivalent

You can programmatically set the stop time:

set_param('sf_aircraft','StopTime','10');
2 Start simulation.

Chart animation shows that the other three actuators react appropriately to the
failure of the left outer (LO) actuator.

15-29
15 Save and Restore Simulations with SimState

This actuator... Switches from... Because...

Left inner (LI) Standby to active The left elevator must
compensate for the left outer
(LO) actuator failure.
Right inner (RI) Standby to active The same hydraulic line
connects to both inner actuators.
Right outer (RO) Active to standby Only one actuator per elevator
can be active.

Both elevators continue to maintain steady-state positions.

15-30
 Test a Chart with Fault Detection and Redundant Logic

Modify SimState Values for Two Actuator Failures

1 Change the state activity in the chart to reflect two actuator failures.

Assume that the left inner (LI) actuator also fails. To change the state, use this
command:

15-31
15 Save and Restore Simulations with SimState

c.Actuators.LI.Isolated.setActive;
2 Save the modified SimState by using this command:

xFinal = xFinal.setBlockSimState(blockpath, c);

Test the SimState for Two Failures

1 In the Model Configuration Parameters dialog box, verify that the stop time is 10.
2 Restart simulation.

Because of failures in both actuators, the left elevator stops working. The right
elevator maintains a steady-state position.

15-32
 Test a Chart with Fault Detection and Redundant Logic

If you modify the SimState of your chart to test the response of the right elevator to
actuator failures, you get similar results.

15-33
15 Save and Restore Simulations with SimState

Methods for Interacting with the SimState of a Chart

You can use the following methods to interact with the SimState of a chart. Assume
that ch is a handle to the SimState of your chart, which you obtain using the
getBlockSimState method.

Type of Method Description Example

Object
All chart open For graphical ch.data.open
objects objects,
highlights the
object in the
Stateflow Editor.

For nongraphical
objects,
highlights the
object in the
Model Explorer.

Note: For
persistent data
in MATLAB
functions, this
method opens the
function editor
and highlights
the persistent
data at the exact
line in the script.
Chart checkStateConsistency Verifies that all ch.checkStateConsistency
states in a chart
are consistent.

If a state is
inactive, no
substates are
active.

15-34
 Methods for Interacting with the SimState of a Chart

Type of Method Description Example

Object
If a state
with parallel
decomposition
is active, all
substates are
active.
If a state with
exclusive
decomposition
is active, only
one substate
is active.
Chart clone Copies the entire newSimState = ch.clone
chart simulation
state to a new
variable.
Chart highlightActiveStates Highlights all ch.highlightActiveStates
active states in
the Stateflow
Editor.
Chart isStateConsistent Returns true (1) ch.isStateConsistent
if all states pass
a consistency
check and false
(0) otherwise.
Chart removeHighlighting Removes all ch.removeHighlighting
highlighting in
the Stateflow
Editor.
State isActive Returns true ch.state.isActive
(1) if a state is
active and false
(0) otherwise.

15-35
15 Save and Restore Simulations with SimState

Type of Method Description Example

Object
State setActive Sets a state to be ch.state.substate.setActive
active.
Must
be an This method
exclusive ensures that no
leaf state other exclusive
states at that
level are active.
State getPrevActiveChild Returns the ch.state.getPrevActiveChild
previously active
Must substate.
have a
history
junction
and
exclusive
substates
State setPrevActiveChild Sets the ch.state.setPrevActiveChild('B')
previously active
Must be substate.
inactive; Note: The argument must be the name
must of a substate (in quotes), or the full
have a SimState path to a substate (without
history quotes).
junction
and
exclusive
substates

15-36
 Rules for Using the SimState of a Chart

Rules for Using the SimState of a Chart

In this section...
Limitations on Values You Can Modify on page 15-37
Rules for Modifying Data Values on page 15-37
Rules for Modifying State Activity on page 15-38
Restriction on Continuous-Time Charts on page 15-38
No Partial Loading of a SimState on page 15-38
Restriction on Copying SimState Values on page 15-39
SimState Limitations That Apply to All Blocks in a Model on page 15-39

Limitations on Values You Can Modify

A SimState does not include information about these elements:

Machine-parented data
Persistent data in custom C code
Persistent data in external MATLAB code

Therefore, you cannot modify the values of those elements.

Rules for Modifying Data Values

These rules apply when you modify data values:

You cannot change the data type or size. Scalar data must remain scalar. Vector
and matrix data must keep the same dimensions. The only exception to this rule is
Stateflow data of ml type (see ml Data Type on page 11-43 for details).
For enumerated data types, you can choose only enumerated values from the type
definition. For other data types, new values must fall within the range that you
specify in the Minimum and Maximum parameters.
Use one-based indexing to define rows and columns of a matrix.

Suppose that you want to change the value of an element in a 21-by-12 matrix. To
modify the element in the first row and second column, type:
c.state_name.data_name.Value(1,2) = newValue;

15-37
15 Save and Restore Simulations with SimState

Rules for Modifying State Activity

These rules apply when you use the setActive method on an exclusive (OR) leaf state:

State-parented local data does not reinitialize.

The newly active state does not execute any entry actions. Similarly, the previously
active state does not execute any exit actions.

If you want these state actions to occur, you must execute them separately. For
example, if your state actions assign values to data, you must assign the values
explicitly.
The setActive method tries to maintain state consistency by:

Updating state activity for parent, grandparent, and sibling states

Resetting temporal counters for newly active states
Updating values of state output data (read-only)
Enabling or disabling function-call subsystems and Simulink functions that bind
to states
The highlightActiveStates method also executes when these conditions are true:

The model is open.

The chart is visible.
The highlightActiveStates method has executed at least once, but not the
removeHighlighting method.

Restriction on Continuous-Time Charts

After you load a SimState for a continuous-time chart, you can restart simulation from
a nonzero time. However, you cannot modify the state activity or any data values,
because the SimState for a continuous-time chart is read-only. For more information, see
Summary of Rules for Continuous-Time Modeling on page 19-22.

No Partial Loading of a SimState

When you load a SimState, the complete simulation state is available as a variable in the
MATLAB base workspace. You cannot perform partial loading of a SimState for a subset
of chart objects.

15-38
 Rules for Using the SimState of a Chart

Restriction on Copying SimState Values

Use the clone method to copy an entire SimState to a new variable (see Methods for
Interacting with the SimState of a Chart on page 15-34). You cannot copy a subset of
SimState values, because the clone method works only at the chart level.

Suppose that you obtain a handle to the SimState of your chart using these commands:
blockpath = 'model/chart';
c = xFinal.getBlockSimState(blockpath);

Assignment statements such as stateCopy = c.state, dataCopy = c.data, and

simstateCopy = c do not work. These assignments create copies of object handles, not
SimState values.

SimState Limitations That Apply to All Blocks in a Model

For a list of SimState limitations that apply to all blocks in a Simulink model, see
Limitations of SimState (Simulink).

15-39
15 Save and Restore Simulations with SimState

Best Practices for Using the SimState of a Chart

In this section...
Use MAT-Files to Save a SimState for Future Use on page 15-40
Use Scripts to Save SimState Commands for Future Use on page 15-40

Use MAT-Files to Save a SimState for Future Use

To save a SimState from the MATLAB base workspace, save the variable with final state
data in a MAT-file.

For example, type at the command prompt:

save('sf_car_ctx01.mat', 'sf_car_ctx01')

For more information, see save in the MATLAB documentation.

Use Scripts to Save SimState Commands for Future Use

To save a list of SimState commands for future use, copy them from a procedure and
paste them in a MATLAB script.

For example, to reuse the commands in Divide a Long Simulation into Segments on
page 15-5, you can store them in a script named sf_boiler_simstate_commands.m:

% Load the model.

sf_boiler;

% Set parameters to save the SimState at the desired time.

set_param('sf_boiler','SaveFinalState','on','FinalStateName',...
['sf_boiler_ctx01'],'SaveCompleteFinalSimState','on');

% Specify the start and stop times for the simulation segment.
set_param('sf_boiler','StartTime','0','StopTime','400');

% Simulate the model.

sim('sf_boiler');

% Disable saving of the SimState to avoid overwriting.

set_param('sf_boiler','SaveCompleteFinalSimState','off', ...

15-40
 Best Practices for Using the SimState of a Chart

'SaveFinalState','off');

% Load the SimState.

set_param('sf_boiler', 'LoadInitialState', 'on', ...
'InitialState', ['sf_boiler_ctx01']);

% Specify the new stop time for the simulation segment.

set_param('sf_boiler','StopTime','600');

% Simulate the model.

sim('sf_boiler');

15-41
 16

Vectors and Matrices in C Charts

How Vectors and Matrices Work in C Charts on page 16-2

Define Vectors and Matrices on page 16-4
Scalar Expansion for Converting Scalars to Nonscalars on page 16-6
Assign and Access Vector and Matrix Values on page 16-8
Operations For Vectors and Matrices in C Charts on page 16-11
Rules for Vectors and Matrices in C Charts on page 16-13
Best Practices for Vectors and Matrices in C Charts on page 16-14
Find Pattern in Data Transmission Using Vectors on page 16-17
Calculate Motion Using Matrices on page 16-19
16 Vectors and Matrices in C Charts

How Vectors and Matrices Work in C Charts

In this section...
When to Use Vectors and Matrices on page 16-2
Where You Can Use Vectors and Matrices on page 16-2

When to Use Vectors and Matrices

Use vectors and matrices when you want to:

Process multidimensional input and output signals

Combine separate scalar data into one signal

For examples, see Find Pattern in Data Transmission Using Vectors on page 16-17
and Calculate Motion Using Matrices on page 16-19.

Where You Can Use Vectors and Matrices

You can define vectors and matrices at these levels of the Stateflow hierarchy:

Charts
Subcharts
States
Functions

You can use vectors and matrices to define:

Input data
Output data
Local data
Function inputs
Function outputs

You can also use vectors and matrices as arguments for:

State actions

16-2
 How Vectors and Matrices Work in C Charts

Transition actions
MATLAB functions
Truth table functions
Graphical functions
Simulink functions
Change detection operators

For more information, see Operations For Vectors and Matrices in C Charts on page
16-11 and Rules for Vectors and Matrices in C Charts on page 16-13.

16-3
16 Vectors and Matrices in C Charts

Define Vectors and Matrices

In this section...
Define a Vector on page 16-4
Define a Matrix on page 16-4

Define a Vector
Define a vector in a C chart as follows:

1 Add data to your chart as described in Add Stateflow Data on page 8-2.
2 In the General pane of the Data properties dialog box, enter the dimensions of the
vector in the Size field.

For example, enter [4 1] to specify a 4-by-1 vector.

3 Specify the name, base type, and other properties for the new data.

Note: Vectors cannot have the base type ml. See Rules for Vectors and Matrices in C
Charts on page 16-13.
4 Set initial values for the vector.

If initial values of all elements are the same, enter a real number in the Initial
value field. This value applies to all elements of a vector of any size.
If initial values differ, enter real numbers in the Initial value field. For example,
you can enter:

[1; 3; 5; 7]

Tip: If you want to initialize all elements of a vector to 0, do nothing. When no values
are explicitly defined, all elements initialize to 0.
5 Click Apply.

Define a Matrix
Define a matrix in a C chart as follows:

16-4
 Define Vectors and Matrices

1 Add data to your chart as described in Add Stateflow Data on page 8-2.
2 In the General pane of the Data properties dialog box, enter the dimensions of the
matrix in the Size field.

For example, enter [3 3] to specify a 3-by-3 matrix.

3 Specify the name, base type, and other properties for the new data.

Note: Matrices cannot have the base type ml. See Rules for Vectors and Matrices in
C Charts on page 16-13.
4 Set initial values for the matrix.

If initial values of all elements are the same, enter a real number in the Initial
value field. This value applies to all elements of a matrix of any size.
If initial values differ, enter real numbers in the Initial value field. For example,
you can enter:

[1 2 3; 4 5 6; 7 8 9]

Tip: If you want to initialize all elements of a matrix to 0, do nothing. When no

values are explicitly defined, all elements initialize to 0.
5 Click Apply.

16-5
16 Vectors and Matrices in C Charts

Scalar Expansion for Converting Scalars to Nonscalars

In this section...
What Is Scalar Expansion? on page 16-6
How Scalar Expansion Works for Functions on page 16-6

What Is Scalar Expansion?

Scalar expansion is a method of converting scalar data to match the dimensions of vector
or matrix data. For example, scalar expansion can convert a value of 1 to a vector or
matrix where all the elements are 1.

How Scalar Expansion Works for Functions

Suppose that you have a function signature yy = example(uu), where the
formal arguments yy and uu are scalars. Assume that you have a function call y =
example(u). The rules of scalar expansion for function calls with a single output follow.

If the output y is a... And the input u is a... Then...

Scalar Scalar No scalar expansion occurs.
Vector or matrix Scalar Scalar expansion occurs for
example(u) to match the
dimensions of y.
Vector or matrix Vector or matrix Scalar expansion
occurs so that y[i] =
example(u[i]).
Scalar Vector or matrix An error message alerts you
to a size mismatch.

For functions with multiple outputs, the same rules apply except for the case where the
outputs and inputs of the function call are all vectors or matrices. In this case, scalar
expansion does not occur, and an error message alerts you to a size mismatch.

The rules of scalar expansion apply to all functions that you use in C charts:

MATLAB functions

16-6
 Scalar Expansion for Converting Scalars to Nonscalars

Graphical functions
Simulink functions
Truth table functions

16-7
16 Vectors and Matrices in C Charts

Assign and Access Vector and Matrix Values

In this section...
Notation for Vectors and Matrices on page 16-8
Assign and Access Values of Vectors on page 16-8
Assign and Access Values of Matrices on page 16-9
Assign Values of a Vector or Matrix Using Scalar Expansion on page 16-9

Notation for Vectors and Matrices

Index notation for vectors and matrices in a C chart differs from the notation you use in
a MATLAB script. You use zero-based indexing for each dimension of a vector or matrix
in a chart that uses C as the action language. However, you use one-based indexing in a
MATLAB script.

To refer to... In a C chart, use... In a MATLAB script, use...

The first element of a vector test[0] test(1)
test
The ith element of a vector test[i-1] test(i)
test
The element in row 4 and test[3][4] test(4,5)
column 5 of a matrix test
The element in row i and test[i-1][j-1] test(i,j)
column j of a matrix test

Assign and Access Values of Vectors

The following examples show how to assign the value of an element in a vector in a C
chart.

If you enter... You assign the value... To...

test[0] = 10; 10 The first element
test[i] = 77; 77 The (i+1)th element

16-8
 Assign and Access Vector and Matrix Values

The following examples show how to access the value of an element in a vector in a C
chart.

If you enter... You access the value of...

old = test[1]; The second element of a vector test
new = test[i+5]; The (i+6)th element of a vector test

Assign and Access Values of Matrices

The following examples show how to assign the value of an element in a matrix in a C
chart.

If you enter... You assign the value... To the element in...

test[0][8] = 10; 10 Row 1, column 9
test[i][j] = 77; 77 Row i+1, column j+1

The following examples show how to access the value of an element in a matrix in a C
chart.

If you enter... You access the value of...

old = test[1][8]; The matrix test in row 2, column 9
new = test[i][j]; The matrix test in row i+1, column j+1

Assign Values of a Vector or Matrix Using Scalar Expansion

You can use scalar expansion in a C chart to set all elements of a vector or matrix to the
same value. This method works for a vector or matrix of any size.

This action sets all elements of a vector to 10.

test_vector = 10;

This action sets all elements of a matrix to 20.

test_matrix = 20;

16-9
16 Vectors and Matrices in C Charts

Note: You cannot use scalar expansion on a vector or matrix in the MATLAB base
workspace. If you try to use scalar expansion, the vector or matrix in the base workspace
converts to a scalar.

16-10
 Operations For Vectors and Matrices in C Charts

Operations For Vectors and Matrices in C Charts

In this section...
Binary Operations on page 16-11
Unary Operations and Actions on page 16-11
Assignment Operations on page 16-12

Binary Operations
You can perform element-wise binary operations on vector and matrix operands of equal
dimensions in the following order of precedence (1 = highest, 3 = lowest). For operations
with equal precedence, they evaluate in order from left to right.

Example Precedence Description

a * b 1 Multiplication
a / b 1 Division
a + b 2 Addition
a - b 2 Subtraction
a == b 3 Comparison, equality
a != b 3 Comparison, inequality

The multiplication and division operators in a C chart perform element-wise operations,

not standard matrix multiplication and division. For more information, see Perform
Matrix Multiplication and Division Using MATLAB Functions on page 16-14.

Unary Operations and Actions

You can perform element-wise unary operations and actions on vector and matrix
operands.

Example Description
~a Unary minus
!a Logical NOT
a++ Increments all elements of the vector or matrix by 1

16-11
16 Vectors and Matrices in C Charts

Example Description
a-- Decrements all elements of the vector or matrix by 1

Assignment Operations
You can perform element-wise assignment operations on vector and matrix operands.

Example Description
a = expression Simple assignment
a += expression Equivalent to a = a + expression
a -= expression Equivalent to a = a - expression
a *= expression Equivalent to a = a * expression
a /= expression Equivalent to a = a / expression

16-12
 Rules for Vectors and Matrices in C Charts

Rules for Vectors and Matrices in C Charts

These rules apply when you use vectors and matrices in C charts.

Use only operands of equal dimensions for element-wise operations

If you try to perform element-wise operations on vectors or matrices with unequal

dimensions, a size mismatch error appears when you simulate your model. See
Operations For Vectors and Matrices in C Charts on page 16-11.

Do not define vectors and matrices with ml base type

If you define a vector or matrix with ml base type, an error message appears when you
try to simulate your model. This base type supports only scalar data.

For more information about this type, see ml Data Type on page 11-43.

Use only real numbers to set initial values of vectors and matrices

When you set the initial value for an element of a vector or matrix, use a real number.
If you use a complex number, an error message appears when you try to simulate your
model.

Note: You can set values of vectors and matrices to complex numbers after initialization.

Do not use vectors and matrices with temporal logic operators

You cannot use a vector or matrix as an argument for temporal logic operators, because
time is a scalar quantity.

16-13
16 Vectors and Matrices in C Charts

Best Practices for Vectors and Matrices in C Charts

In this section...
Perform Matrix Multiplication and Division Using MATLAB Functions on page
16-14
Index a Vector Using the temporalCount Operator on page 16-15

Perform Matrix Multiplication and Division Using MATLAB Functions

In a C chart, the multiplication and division operators perform element-wise
multiplication and division. Use a MATLAB function to perform standard matrix
multiplication and division.

For example, suppose that you want to perform standard matrix operations on two
square matrices during simulation. Follow these steps:

1 In your chart, add a MATLAB function with the following signature:

[y1, y2, y3] = my_matrix_ops(u1, u2)

2 Double-click the function box to open the editor.
3 In the editor, enter the code below.

function [y1, y2, y3] = my_matrix_ops(u1, u2)

%#codegen

y1 = u1 * u2; % matrix multiplication

y2 = u1 \ u2; % matrix division from the right
y3 = u1 / u2; % matrix division from the left

This function computes three values:

y1 is the product of two input matrices u1 and u2.

y2 is the matrix that solves the equation u1 * y2 = u2.
y3 is the matrix that solves the equation y3 * u1 = u2.
4 Set properties for the input and output data.

a Open the Model Explorer.

b In the Model Hierarchy pane, navigate to the level of the MATLAB function.

16-14
 Best Practices for Vectors and Matrices in C Charts

c In the Contents pane, set properties for each data object.

Note: To initialize a matrix, see Define a Matrix on page 16-4.

Index a Vector Using the temporalCount Operator

When you index a vector, you can use the temporalCount operator to avoid using an
extra variable for the index counter. This indexing method works for vectors that contain
real or complex data.

For example, suppose that you want to collect input data in a buffer during simulation.
Follow these steps:

1 Add this state to your C chart.

The state Collect_Data stores data in the vector y, which is of size 10. The entry
action assigns the value of input data u to the first element of y. The during action
assigns the next nine values of input data to successive elements of the vector y until
you store ten elements.
2 Add the input data u to the chart.

a In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Input
From Simulink.
b In the Data properties dialog box, enter u in the Name field.
c Click OK.
3 Add the output data y to the chart.

a In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Output
To Simulink.

16-15
16 Vectors and Matrices in C Charts

b In the Data properties dialog box, enter y in the Name field.

c Enter 10 in the Size field.
d Click OK.

Note: You do not need to set initial values for this output vector. By default, all
elements initialize to 0.

For information about the temporalCount operator, see Control Chart Execution Using
Temporal Logic on page 11-56.

16-16
 Find Pattern in Data Transmission Using Vectors

Find Pattern in Data Transmission Using Vectors

The model sf_frame_sync_controller is an example of using a vector in a C chart to
find a fixed pattern in a data transmission.

For details of how the chart works, see Detect Valid Transmission Data Using Frame
Synchronization on page 21-19.

16-17
16 Vectors and Matrices in C Charts

Storage of Complex Data in a Vector

The state get_payload stores complex data in the vector frame, which is of size
221. The entry action assigns the value of (IQ * phasor) to the first element of
frame. The during action assigns the next 220 values of (IQ * phasor) to successive
elements of frame until you store 221 elements. (For more information, see Index a
Vector Using the temporalCount Operator on page 16-15.)

Scalar Expansion of a Vector

In the second outgoing transition of the state look_for_sync, the transition action
frame = 0 resets all elements of the vector frame to 0 via scalar expansion. (For more
information, see Assign Values of a Vector or Matrix Using Scalar Expansion on page
16-9.)

16-18
 Calculate Motion Using Matrices

Calculate Motion Using Matrices

The model sf_pool is an example of using matrices in a C chart to simulate the opening
shot on a pool table.

How the Model Works

The model consists of the following blocks.

Model Component Description

Init chart Initializes the position and velocity of the
cue ball.
Pool chart Calculates the two-dimensional dynamics
of each ball on the pool table.
Plot block Animates the motion of each ball during
the opening shot.
Vel scope Displays the velocity of each ball during the
opening shot.
Clock Provides the instantaneous simulation time
to the Plot block.

Storage of Two-Dimensional Data in Matrices

To simulate the opening shot, the Pool chart stores two-dimensional data in matrices.

16-19
16 Vectors and Matrices in C Charts

To store values for... The Pool chart uses...

The instantaneous position of each ball The 15-by-2 matrix p
The instantaneous velocity of each ball The 15-by-2 matrix v
Friction and interaction forces acting on The 15-by-2 matrix v_dot
each ball
Boolean data on whether any two balls are The 15-by-15 matrix ball_interaction
in contact

Calculation of Two-Dimensional Dynamics of Each Ball

The Pool chart calculates the motion of each ball on the pool table using MATLAB
functions that perform matrix calculations.

16-20
 Calculate Motion Using Matrices

MATLAB Function Description

frictionForce Calculates the friction force acting on each
ball.
getBallInteraction Returns a matrix of Boolean data on
whether any two balls are in contact.

16-21
16 Vectors and Matrices in C Charts

MATLAB Function Description

hasBallInteractionChanged Returns 1 if ball interactions have changed
and 0 otherwise.
initBalls Initializes the position and velocity of every
ball on the pool table.
interactionForce Calculates the interaction force acting on
each ball.
isAnyBallGoingToStop Returns 1 if any ball has stopped moving
and 0 otherwise.
isAnyBallNewlyPocketed Returns 1 if any ball has been newly
pocketed and 0 otherwise.
isAnyBallOutOfBounds Returns true if any ball is out of bounds
and false otherwise.
nearHole Returns true if a ball is near a pocket on
the pool table and false otherwise.
pocketNewBalls Sets the velocity of a ball to 0 if it has been
pocketed.
resetBallsPosAndVel Resets the position and velocity of any ball
that is out of bounds.
updateStopFlags Keeps track of which balls have stopped
moving.

Run the Model

To run the model, follow these steps:

1 Type sf_pool at the MATLAB command prompt.

2 Start simulation.
3 Click anywhere in the animated pool table to specify the initial position of the cue
ball.

16-22
 Calculate Motion Using Matrices

4 Click a different spot to specify the initial velocity of the cue ball.

5 Watch the balls move across the pool table.

16-23
16 Vectors and Matrices in C Charts

16-24
 17

Variable-Size Data in Stateflow

Charts

What Is Variable-Size Data? on page 17-2

How Charts Implement Variable-Size Data on page 17-3
Enable Support for Variable-Size Data on page 17-4
Declare Variable-Size Inputs and Outputs on page 17-5
Compute Output Based on Size of Input Signal on page 17-7
Rules for Using Variable-Size Data in Stateflow Charts on page 17-16
17 Variable-Size Data in Stateflow Charts

What Is Variable-Size Data?

Variable-size data is data whose size can change at run time. By contrast, fixed-size data
is data whose size is known and locked at compile time and, therefore, cannot change at
run time.

17-2
 How Charts Implement Variable-Size Data

How Charts Implement Variable-Size Data

Stateflow charts exchange variable-size data with other charts and blocks in their models
through MATLAB functions, Simulink functions, and MATLAB truth tables.

You pass variable-size data to these functions as chart-level inputs and outputs from
state actions and transition logic. However, you must perform all computations with
variable-size data inside the functions, not directly in states or transitions.

For more information about the functions that interact with variable-size, chart-level
inputs and outputs, see:

MATLAB Functions in a Chart on page 26-2

Simulink Functions in Stateflow on page 27-2
MATLAB Truth Tables on page 25-4

17-3
17 Variable-Size Data in Stateflow Charts

Enable Support for Variable-Size Data

Support for variable-size data is enabled by default. To modify this option for individual
charts:

1 Right-click an open area of the chart and select Properties.

The Chart properties dialog box opens.

2 Select or clear the Support variable-size arrays check box.

After enabling support at the chart level, declare your variable-size inputs and outputs.

17-4
 Declare Variable-Size Inputs and Outputs

Declare Variable-Size Inputs and Outputs

1 In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Input
From Simulink or Chart > Add Inputs & Outputs > Data Output To
Simulink.

The Data properties dialog box opens.

2 Select the Variable size check box.
3 Set Scope as Input or Output.
4 Enter size:

Data What to Specify

Input Enter -1 to inherit size from Simulink or specify the explicit size and
upper bound.

For example, enter [2 4] to specify a 2-D matrix where the upper

bounds are 2 for the first dimension and 4 for the second.
Output Specify the explicit size and upper bound.

For example:

17-5
17 Variable-Size Data in Stateflow Charts

17-6
 Compute Output Based on Size of Input Signal

Compute Output Based on Size of Input Signal

In this section...
About the Model on page 17-7
Chart: VarSizeSignalSource on page 17-8
Chart: size_based_processing on page 17-11
Simulate the Model on page 17-15

About the Model

The model sf_varsize_example shows how MATLAB functions in Stateflow charts
exchange variable-size data with other charts and blocks in the model. To open the
model, type sf_varsize_example at the MATLAB command prompt.

In this model, one Stateflow chart, VarSizeSignalSource, uses temporal logic to

generate a variable-size signal. A second chart, size_based_processing, computes the
output based on the size of the signal generated by the first chart:

17-7
17 Variable-Size Data in Stateflow Charts

Chart: VarSizeSignalSource
The VarSizeSignalSource chart works like a source block. It has no input and one
variable-size output y:

17-8
 Compute Output Based on Size of Input Signal

For variable-size outputs, you must explicitly specify the size and upper bound for each
dimension. In this case, y is a vector where the first dimension is assumed to be fixed at
size 1 and the second dimension is variable with an upper bound of 16.

This chart uses temporal logic to transition between three states, each generating a
different size output:

17-9
17 Variable-Size Data in Stateflow Charts

How the Chart Works with the Variable-Size Output

No states or transitions can read from or write to variable-size data. Therefore, y does
not appear in any state actions or transition logic. All computations involving variable-
size data must occur in MATLAB functions in the chart.

How the MATLAB Function Works with the Variable-Size Output

MATLAB functions access variable-size, chart-level data directly. You do not pass the
data as inputs or outputs to the functions. In this chart, the generateOutput function
adds a different number of elements to the variable-size output y, based on how the
active state calls it. The function constructs the variable-size vector from a number
sequence, then outputs the transpose of the result:

function generateOutput(len)
%#codegen
assert(len<=16);
y = (1:len)';

MATLAB functions must be able to determine the upper bounds of variable-size data
at compile time. In this case, however, the upper bound is len, an input for which the

17-10
 Compute Output Based on Size of Input Signal

model computes the value at run time. To provide this information, the assert function
specifies an explicit upper bound for len, one that matches the upper bound for chart
output y.

If you do not include the assert statement, you get a compilation error:

Computed maximum size is not bounded.

Static memory allocation requires all sizes to be bounded.
The computed size is [1 x :?].

Chart: size_based_processing
The size_based_processing chart computes a variable-size output based on the value
of a variable-size input:

Input u is the variable-size signal generated by the VarSizeSignalSource chart:

17-11
17 Variable-Size Data in Stateflow Charts

Output y is a variable-size signal whose size depends on whether u is a scalar or

vector:

17-12
 Compute Output Based on Size of Input Signal

The chart uses three MATLAB functions to evaluate the size of input u and generate
an associated output y:

17-13
17 Variable-Size Data in Stateflow Charts

As in the chart VarSizeSignalSource, variable-size data does not appear in state

actions or transition logic. Instead, states call MATLAB functions to compute the
variable-size output. Transitions call a MATLAB function in a conditional statement
to evaluate the variable-size input.

MATLAB Function: is_scalar_input

This function tests whether chart input u, the signal generated by chart
VarSizeSignalSource, is a scalar or vector value:
function isScalar = is_scalar_input
%#codegen
isScalar = length(u)==1;

MATLAB Function: compute_input

If input u is a vector, this function outputs the sine of each of its values:
function compute_output
%#codegen
y = sin(u);

MATLAB Function: reset_output

If input u is a scalar, this function outputs a value of zero:

function reset_output
%#codegen
y = 0;

17-14
 Compute Output Based on Size of Input Signal

Simulate the Model

1 Open the model:
sf_varsize_example
2 Open the chart VarSizeSignalSource, but keep the Simulink display blocks in
view.
3 Start simulation from the chart.

The display blocks periodically show 1, 8, and 16 values from the variable-size
vector.

17-15
17 Variable-Size Data in Stateflow Charts

Rules for Using Variable-Size Data in Stateflow Charts

Declare variable-size data as chart inputs and outputs only, not as local data.

See Declare Variable-Size Inputs and Outputs on page 17-5.

Perform all computations with variable-size data in MATLAB functions, Simulink
functions, and truth tables that use MATLAB as the action language.
Do not perform computations with variable-size data directly in states or transitions.

You can pass the data as inputs and outputs to MATLAB and Simulink functions in
your chart from state actions and transition logic. MATLAB functions can also access
the chart-level, variable-size data directly (see Compute Output Based on Size of
Input Signal on page 17-7).

17-16
 18

Enumerated Data in Charts

What Is Enumerated Data? on page 18-2

Benefits of Using Enumerated Data in a Chart on page 18-3
Where to Use Enumerated Data on page 18-4
Elements of an Enumerated Data Type Definition on page 18-5
Define Enumerated Data in a Chart on page 18-8
Ensure That Changes in Data Type Definition Take Effect on page 18-11
Notation for Enumerated Values in Charts on page 18-12
Enumerated Data Operations in Charts on page 18-14
Rules for Using Enumerated Data in a Chart on page 18-15
Best Practices for Using Enumerated Data in a Chart on page 18-18
Model CD Player Using Enumerated Data on page 18-20
Assign Enumerated Values in a Chart on page 18-32
18 Enumerated Data in Charts

What Is Enumerated Data?

Enumerated data has a finite set of values. An enumerated data type consists of values
that you allow for that type, or enumerated values. For integer-based enumerated types,
each enumerated value consists of a name and an underlying numeric value.

For example, the following MATLAB file restricts an integer-based enumerated data type
named BasicColors to three enumerated values.

classdef BasicColors < Simulink.IntEnumType

enumeration
Red(0)
Yellow(1)
Green(2)
end
end

Enumerated Value Enumerated Name Underlying Numeric Value

Red(0) Red 0
Yellow(1) Yellow 1
Green(2) Green 2

For information on defining an enumerated data type, see Define Enumerated Data in a
Chart on page 18-8.

For information on using enumerated data in other blocks of a Simulink model, see Use
Enumerated Data in Simulink Models (Simulink).

18-2
 Benefits of Using Enumerated Data in a Chart

Benefits of Using Enumerated Data in a Chart

Use enumerated data in a Stateflow chart to:

Model a physical system with a finite number of states

Restrict data to a finite set of values
Refer to these values by name

For example, this chart uses enumerated data to refer to a set of colors.

The chart models a system with two discrete states: Slow and Fast.
The enumerated data output is restricted to a finite set of values: 0, 1, and 2.
You can refer to these values by their enumerated names: Red, Yellow, and Green.

In large-scale models, use enumerated data for these benefits:

Enhance readability of data in a chart.

Avoid defining a long list of constants.

For example, you can group related values into separate data types.

18-3
18 Enumerated Data in Charts

Where to Use Enumerated Data

You can use enumerated data at these levels of the Stateflow hierarchy:

Chart
Subchart
State

You can use enumerated data as arguments for:

State actions
Condition and transition actions
Vector and matrix indexing
MATLAB functions
Graphical functions
Simulink functions
Truth Table blocks and truth table functions

You can use enumerated data for simulation and Simulink Coder code generation.

More About
MATLAB Functions in a Chart on page 26-2
Reuse Logic Patterns Using Graphical Functions on page 7-32
Simulink Functions in Stateflow on page 27-2
What Is a Truth Table? on page 25-2
Rules for Using Enumerated Data in a Chart on page 18-15

18-4
 Elements of an Enumerated Data Type Definition

Elements of an Enumerated Data Type Definition

The elements of an enumerated data type definition appear as follows:

classdef BasicColors < Simulink.IntEnumType

enumeration
Red(0)
Yellow(1)
Green(2)
end

methods (Static = true)

function retVal = getDescription()
% GETDESCRIPTION Specifies a string to describe this enumerated type.
retVal = 'This defines an enumerated type for colors';
end

function retVal = getDefaultValue()

% GETDEFAULTVALUE Specifies the default enumeration member.
% Return a valid member of this enumeration class to specify the default.
% If you do not define this method, Simulink uses the first member.
retVal = BasicColors.Green;
end

function retVal = getDataScope()

% GETDATASCOPE Specifies whether generated code imports or exports this type.
% Return one of these strings:
% 'Auto': define type in model_types.h, or import if header file specified
% 'Exported': define type in a generated header file
% 'Imported': import type definition from specified header file
% If you do not define this method, DataScope is 'Auto' by default.
retVal = 'Imported';
end

function retVal = getHeaderFile()

% GETHEADERFILE Specifies the file that defines this type in generated code.
% The method getDataScope determines the significance of the specified file.
retVal = 'imported_enum_type.h';
end

function retVal = addClassNameToEnumNames()

% ADDCLASSNAMETOENUMNAMES Specifies whether to add the class name
% as a prefix to enumeration member names in generated code.
% Return true or false.

18-5
18 Enumerated Data in Charts

% If you do not define this method, no prefix is added.

retVal = true;
end % function
end % methods
end % classdef

The data type definition consists of three sections of code.

Section of Required? Purpose Reference

Code
classdef Yes Gives the name of the enumerated data type Define an
Enumerated Data
Type in a File on
page 18-8
enumeration Yes Lists the enumerated values that the data Define an
type allows Enumerated Data
Type in a File on
page 18-8
methods No Provides methods that customize the data Use Enumerated
type: Data in Simulink
Models (Simulink)
getDefaultValue

Specifies a default enumerated value other

than the first one in the list of allowed
values
getDescription

Specifies a description of the data type for

Simulink Coder generated code
getHeaderFile

Specifies custom header file that contains

the enumerated type definition in Simulink
Coder generated code
getDataScope

Enables exporting or importing the

enumerated type definition to or from a

18-6
 Elements of an Enumerated Data Type Definition

Section of Required? Purpose Reference

Code
header file in Simulink Coder generated
code
addClassNameToEnumNames

Prevents name conflicts with identifiers

in Simulink Coder generated code, and
enhances readability

In the example, the methods section of code customizes the data type as follows:

Specifies that the default enumerated value is the last one in the list of allowed values
Includes a short description of the data type for Simulink Coder generated code
Imports the definition of the data type from a custom header file to prevent Simulink
Coder from generating the definition.
Adds the name of the data type as a prefix to each enumeration member name in
Simulink Coder generated code

18-7
18 Enumerated Data in Charts

Define Enumerated Data in a Chart

In this section...
Tasks for Defining Enumerated Data in a Chart on page 18-8
Define an Enumerated Data Type in a File on page 18-8
Add Enumerated Data to a Chart on page 18-9

Tasks for Defining Enumerated Data in a Chart

1 Define an enumerated data type in a file on the MATLAB path.

This data type is a MATLAB class definition.

Note: For each enumerated type, you must create a new file.
2 Add data of the enumerated type to a chart.

Define an Enumerated Data Type in a File

1 Create a new file to store the data type definition.

In the MATLAB Command Window, select Home > New > Class.
2 Define enumerated values in an enumeration section.
classdef EnumTypeName < Simulink.IntEnumType
enumeration
EnumName(N)
...
end
end

EnumTypeName is must be unique among data type names and workspace variable
names. An enumerated type can define any number of values. Each enumerated
value consists of a name EnumName and an integer N. Each EnumName must be
unique within its type, but can also appear in other enumerated types.

For example, you can enter the following lines in the MATLAB Editor:
classdef BasicColors < Simulink.IntEnumType
enumeration

18-8
 Define Enumerated Data in a Chart

Red(0)
Yellow(1)
Green(2)
end
end

The classdef section defines an integer-based enumerated data type with the name
BasicColors and derives it from the built-in type Simulink.IntEnumType. The
enumeration section is the set of values that this data type allows. The default
value is the first one in the list, unless you specify otherwise in the next step.
3 (Optional) Customize the data type using a methods section.

For details, see Elements of an Enumerated Data Type Definition on page 18-5 or
Customize Simulink Enumeration (Simulink) in the Simulink documentation.
4 Save this file on the MATLAB path.

The name of your file must match exactly the name of your data type. For example,
the data type BasicColors must reside in a file named BasicColors.m.

Tip: To add a folder to the MATLAB search path, type addpath pathname at the
command prompt.

Add Enumerated Data to a Chart

1 Add data to your chart and select a scope other than Constant.
2 In the Property Inspector, or Data properties dialog box, enter a name and data type
for the enumerated data.

a In the Name field, enter a name.

b In the Type field, select Enum: <class name>.
c Replace <class name> with the name of the data type that you defined in a file
on the MATLAB path.

For example, you can enter Enum: BasicColors in the Type field.
3 (Optional) Enter an initial value for the enumerated data.

More About
Define an Enumerated Data Type in a File on page 18-8

18-9
18 Enumerated Data in Charts

Rules for Using Enumerated Data in a Chart on page 18-15

Prefixed Notation for Enumerated Values on page 18-12
Elements of an Enumerated Data Type Definition on page 18-5

18-10
 Ensure That Changes in Data Type Definition Take Effect

Ensure That Changes in Data Type Definition Take Effect

When you update an enumerated data type definition for an open model, the changes do
not take effect right away. To see the effects of updating a data type definition:

1 Save the model.

2 Close the model.
3 Delete instances of the data type from the MATLAB base workspace.

Tip: To find these instances, type whos at the command prompt.

4 Open the model.
5 Start simulation or generate Simulink Coder code.

18-11
18 Enumerated Data in Charts

Notation for Enumerated Values in Charts

In this section...
Nonprefixed Notation for Enumerated Values on page 18-12
Prefixed Notation for Enumerated Values on page 18-12

Nonprefixed Notation for Enumerated Values

To minimize identifier length when referring to enumerated values in Stateflow charts,
you can use nonprefixed notation. This notation is of the form Name, where Name is the
enumerated value name.

If your chart uses data types that contain identical enumerated names (such as
Colors.Red and Temp.Red), consider using prefixed notation to prevent name conflicts
among identifiers.

Requirements for Using Nonprefixed Notation in Charts

The requirements for using nonprefixed notation are:

The enumerated data type definition must be in a file on the MATLAB search path.
Enumerated data of this type exists in the chart.

Example of Nonprefixed Notation in Charts

Suppose that you have an identifier with nonprefixed notation: Red. The enumerated
name Red belongs to the data type TrafficColors.

To use the nonprefixed notation Red, follow these requirements:

Define TrafficColors as an enumerated data type in a file on the MATLAB search

path.
Define data of enumerated type TrafficColors in the chart.

Prefixed Notation for Enumerated Values

To prevent name conflicts when referring to enumerated values in charts, you can use
prefixed notation. This notation is of the form Type.Name. Type is an enumerated data
type and Name is the enumerated value name.

18-12
 Notation for Enumerated Values in Charts

Suppose that you have three data types (Colors, Temp, and Code) that contain the
enumerated name Red. By using prefixed notation, you can distinguish Colors.Red
from Temp.Red and Code.Red.

Requirement for Using Prefixed Notation

The only requirement for using prefixed notation is that the enumerated data type
definition is in a file on the MATLAB search path.

Example of Prefixed Notation

Suppose that you have an identifier with prefixed notation: TrafficColors.Red. The
enumerated name Red belongs to the data type TrafficColors.

You can meet the requirement for prefixed notation by defining TrafficColors as an
enumerated data type in a file on the MATLAB search path.

More About
Prefixed Notation for Enumerated Values on page 18-12
Define Enumerated Data in a Chart on page 18-8

18-13
18 Enumerated Data in Charts

Enumerated Data Operations in Charts

These operations work with enumerated operands.

Example Description
a = exp Assignment of exp, which must evaluate to an enumerated value
a == b Comparison, equality
a != b Comparison, inequality

18-14
 Rules for Using Enumerated Data in a Chart

Rules for Using Enumerated Data in a Chart

These rules apply when you use enumerated data in a chart.

Use the name of the enumerated data type as the name of the MATLAB file that contains the
type definition

This rule enables resolution of enumerated data types for Simulink models.

Use a unique name for an enumerated data type

The name of an enumerated data type cannot match the name of another data type or a
variable in the MATLAB base workspace. Otherwise, a name conflict occurs.

Do not define enumerated data at the machine level of the hierarchy

Machine-parented data is not supported for enumerated types.

Do not use enumerated data for inputs and outputs of exported functions

This rule applies to graphical functions, truth table functions, and Simulink functions.

Do not assign enumerated values to constant data

Because enumerated values are constants, assigning these values to constant data is
redundant and unnecessary. If you try to assign enumerated values to constant data, an
error appears.

Ensure unique name resolution for nonprefixed identifiers

If you use nonprefixed identifiers to refer to enumerated values in a chart, ensure

unique name resolution in each case. For requirements, see Nonprefixed Notation for
Enumerated Values on page 18-12.

Assign to enumerated data only expressions that evaluate to enumerated values

Examples of valid assignments to enumerated data include:

y = BasicColors(3)
y = BasicColors.Red

18-15
18 Enumerated Data in Charts

Use a prefixed identifier to set the initial value of enumerated data

If you choose to set an initial value for enumerated data, you must use a
prefixed identifier in the Initial value field of the Data properties. For example,
BasicColors.Red is a valid identifier, but not Red. This rule applies because the initial
value must evaluate to a valid MATLAB expression.

For information about prefixed notation, see Prefixed Notation for Enumerated Values
on page 18-12.

Do not use the ml namespace operator to access enumerated data from the MATLAB base
workspace

This operator does not support enumerated data.

Do not enter minimum or maximum values for enumerated data

How the Minimum and Maximum fields appear in the Data properties depends on
which option you use to define enumerated data.

Type Field Option Appearance of the Minimum and Maximum

Fields
Enum: <class name> Not available
<data type expression> or Inherit Available
from Simulink

Leave the Minimum and Maximum fields empty for enumerated data. The chart
ignores any values that you enter in these fields.

Include custom header information for enumerated types in the Model Configuration
Parameters dialog box

If data in your chart uses an enumerated type with a custom header file, include
the header information in the Simulation Target pane of the Model Configuration
Parameters dialog box. In the Header file section, add the following statement:
#include "<custom_header_file_for_enum>.h"

Suppose that you have three enumerated types in your model that use custom
header files: imported_enum_type1.h, imported_enum_type2.h, and
imported_enum_type3.h. If you use the three enumerated types for different data in
your chart, you can include the header information by using one of these methods:

18-16
 Rules for Using Enumerated Data in a Chart

Add the following statements in the Header file section of the Simulation Target
pane in the Model Configuration Parameters dialog box:
#include "imported_enum_type1.h"
#include "imported_enum_type2.h"
#include "imported_enum_type3.h"
Create a separate header file, such as required_types.h, that consolidates the list
of custom header files:
#include "imported_enum_type1.h"
#include "imported_enum_type2.h"
#include "imported_enum_type3.h"

Then, add the following statement in the Header file section of the Simulation
Target pane in the Model Configuration Parameters dialog box:
#include "required_types.h"

18-17
18 Enumerated Data in Charts

Best Practices for Using Enumerated Data in a Chart

Add prefixes to enumerated names to enhance readability of generated code

If you add prefixes to enumerated names in the generated code, you enhance readability
and avoid name conflicts with global symbols. For details, see Use Enumerated Data in
Generated Code (Simulink Coder) in the Simulink Coder documentation.

Use unique identifiers to refer to enumerated values

This guideline prevents name conflicts with other objects in a chart. If an enumerated
value uses the same identifier as a data object in a state or a bus field in a chart, the
chart does not resolve the identifier as an enumerated value.

For example, the following diagram shows the stages in which a chart tries to resolve the
identifier Colors.Red.

18-18
 Best Practices for Using Enumerated Data in a Chart

Given an
identifier
Colors.Red

Is there a state
named Colors Yes
with a data
object named
Red?

No

Is there a bus Successful

named Yes name resolution
Colors that for identifier
contains the Colors.Red
field Red?

No

Is there an
enumerated Yes
type named
Colors with the
value Red?

No

Error message
appears in the
Diagnostic
Viewer

18-19
18 Enumerated Data in Charts

Model CD Player Using Enumerated Data

In this section...
Overview of CD Player Model on page 18-20
Benefits of Using Enumerated Types in This Model on page 18-22
Run the CD Player Model on page 18-22
How the UserRequest Chart Works on page 18-25
How the CdPlayerModeManager Chart Works on page 18-25
How the CdPlayerBehaviorModel Chart Works on page 18-29

Overview of CD Player Model

This Simulink model implements a basic CD player using enumerated data in three C
charts.

18-20
 Model CD Player Using Enumerated Data

Model Component Description Details

UserRequest chart Reads and stores user How the UserRequest Chart
inputs Works on page 18-25
CdPlayerModeManager Determines whether the CD How the
chart player operates in CD or CdPlayerModeManager
radio mode Chart Works on page
18-25
CdPlayerBehaviorModel Describes behavior of the How the
chart CD player mechanism CdPlayerBehaviorModel
Chart Works on page
18-29

18-21
18 Enumerated Data in Charts

Benefits of Using Enumerated Types in This Model

This model uses two enumerated data types: RadioRequestMode and CdRequestMode.

Enumerated Data Type Enumerated Values

RadioRequestMode OFF(0)
CD(1)
FM(2)
AM(3)
CdRequestMode EMPTY(-2)
DISCINSERT(-1)
STOP(0)
PLAY(1)
REW(3)
FF(4)
EJECT(5)

By grouping related values into separate data types, you get these benefits:

Enhance readability of data values in each chart.

Avoid defining a long list of constants, which reduces the amount of data in your
model.

Run the CD Player Model

Follow these steps to run the model:

1 Type sf_cdplayer at the MATLAB command prompt.

2 Start simulation of the model.

The CD Player Helper GUI appears.

18-22
 Model CD Player Using Enumerated Data

The Display blocks in the model show the default settings of the CD player.

18-23
18 Enumerated Data in Charts

3 In the CD Player Helper GUI, click CD in the Radio Request section.

The Display blocks for enumerated data RR and CurrentRadioMode change from
OFF to CD.
4 In the CD Player Helper GUI, click Insert Disc.

The Display block for enumerated data CdStatus changes from EMPTY to
DISCINSERT to STOP.
5 In the CD Player Helper GUI, click PLAY in the CD Request section.

The Display blocks for enumerated data CR, MechCmd, and CdStatus change from
STOP to PLAY.

18-24
 Model CD Player Using Enumerated Data

Note: To see other changes in the Display blocks, you can select other operating modes
for the CD player, such as FM or AM radio.

How the UserRequest Chart Works

Key features of the UserRequest chart include:

Enumerated data
ml namespace operator (see ml Namespace Operator on page 11-38)

This chart reads user inputs from the CD Player Helper GUI and stores the information
as output data.

Output Data Name Data Type Description

RR Enumerated Operating mode of the radio
component
CR Enumerated Operating mode of the CD
component
DiscInsert Boolean Setting for CD insertion
DiscEject Boolean Setting for CD ejection

How the CdPlayerModeManager Chart Works

Key features of the CdPlayerModeManager chart include:

18-25
18 Enumerated Data in Charts

Enumerated data
Subcharts (see Encapsulate Modal Logic Using Subcharts on page 7-5)
Change detection (see Detect Changes in Data Values on page 11-74)

18-26
Model CD Player Using Enumerated Data

18-27
18 Enumerated Data in Charts

Behavior of the CdPlayerModeManager Chart

1 When the chart wakes up, the ModeManager state is entered.

2 The previously active substate recorded by the history junction becomes active:
Standby or ON.

Note: Transitions between the Standby and ON substates occur as follows.

If the enumerated data RadioReq is OFF, the Standby substate is entered.

If the enumerated data RadioReq is not OFF, the ON substate is entered. (For
details, see Control of CD Player Operating Mode on page 18-28.)

3 If the Boolean data DiscEject is 1 (or true), a transition to the Eject state occurs,
followed by a transition back to the ModeManager state.
4 Steps 2 and 3 repeat until the chart goes to sleep.

Control of CD Player Operating Mode

In the ON substate, three subcharts represent the operating modes of a CD player: CD,
AM radio, and FM radio. Each subchart corresponds to a different value of enumerated
data RadioReq.

Value of Enumerated Data Active Subchart Purpose of Subchart

RadioReq
CD CDMode Outputs play, rewind,
fast forward, and
stop commands to the
CdPlayerBehaviorModel
chart
AM AMMode Sets the CD player to AM
radio mode
FM FMMode Sets the CD player to FM
radio mode

The hasChanged operator detects changes in the value of RadioReq with an inner
transition.

18-28
 Model CD Player Using Enumerated Data

How the CdPlayerBehaviorModel Chart Works

Key features of the CdPlayerBehaviorModel chart include:

Enumerated data
Temporal logic (see Control Chart Execution Using Temporal Logic on page 11-56)

18-29
18 Enumerated Data in Charts

18-30
 Model CD Player Using Enumerated Data

Behavior of the CdPlayerBehaviorModel Chart

1 When the chart wakes up, the Empty state is entered.

2 If the Boolean data DiscInsert is 1 (or true), a transition to the Inserting state
occurs.
3 After a short time delay, a transition to the DiscPresent state occurs.
4 The DiscPresent state remains active until the data CMD becomes EJECT.
5 If the enumerated data CMD is EJECT, a transition to the Ejecting state occurs.
6 After a short time delay, a transition to the Empty state occurs.
7 Steps 2 through 6 repeat until the chart goes to sleep.

Update of CD Player Behavior

Whenever a state transition occurs, the enumerated data CdStatus changes value to
reflect the behavior of the CD player.

Active State Value of Enumerated Data Behavior of CD Player

CdStatus
Empty EMPTY CD player is empty.
Inserting DISCINSERT CD is being inserted into the
player.
DiscPresent.STOP STOP CD is present and stopped.
DiscPresent.PLAY PLAY CD is present and playing.
DiscPresent.REW REW CD is present and rewinding.
DiscPresent.FF FF CD is present and fast
forwarding.
Ejecting EJECT CD is being ejected from the
player.

18-31
18 Enumerated Data in Charts

Assign Enumerated Values in a Chart

In this section...
Goal of the Tutorial on page 18-32
Build the Chart on page 18-32
View Results for Simulation on page 18-35
How the Chart Works on page 18-38

Goal of the Tutorial

The goal of this tutorial is to build a chart that uses enumerated values in assignment
statements.

Build the Chart

To build the chart, follow these steps.

Add States and Transitions to the Chart

You can add states and transitions to the chart as follows.

1 Type sfnew at the command prompt to create a new model with a chart inside.
2 In the chart, add states A and B to the chart.

18-32
 Assign Enumerated Values in a Chart

Note: You will define the data color and y in the sections that follow.
3 Add transitions between states A and B.

4 Add a default transition to state A.

18-33
18 Enumerated Data in Charts

Define an Enumerated Data Type for the Chart

To define an enumerated data type for the chart:

1 Create a new file to store the data type definition.

In the MATLAB Command Window, select Home > New > Class.
2 Enter these lines in the MATLAB Editor:
classdef TrafficColors < Simulink.IntEnumType
enumeration
RED(0)
GREEN(10)
end
end

The classdef section defines an integer-based enumerated data type named

TrafficColors that is derived from the built-in type Simulink.IntEnumType.
The enumeration section is the set of enumerated values that this data type allows.
Each enumerated name is followed by the underlying numeric value.
3 Save your file as TrafficColors.m in a folder on the MATLAB search path.

The name of your file must match exactly the name of your data type. Therefore, you
must use TrafficColors.m as the name of your file.

Tip: To add a folder to the MATLAB search path, type addpath pathname at the
command prompt.

18-34
 Assign Enumerated Values in a Chart

Add Enumerated Data to the Chart

To add the enumerated data color to the chart:

1 In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Output To
Simulink.

The Data properties dialog box appears.

2 In the General pane, enter color in the Name field.
3 In the Type field, select Enum: <class name>.
4 Replace <class name> with TrafficColors, the name of the data type that
you defined in a file in Define an Enumerated Data Type for the Chart on page
18-34.
5 Click OK.

Add Integer Data to the Chart

To add the integer data y to the chart:

1 In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Output To
Simulink.

The Data properties dialog box appears.

2 In the General pane, enter y in the Name field.
3 In the Type field, select uint8.
4 Click OK.

View Results for Simulation

To view results for simulation, follow these steps.

Add Scopes to View Output

You can add two scopes to your model as follows.

1 Open the Simulink Library Browser.

2 In the Simulink/Sinks library, select the Scope block.
3 Add two scopes to your model as shown.

18-35
18 Enumerated Data in Charts

Set the Sample Time for Simulation

You can set a discrete sample time for simulation using a fixed-step solver. (For details,
see Solvers (Simulink) in the Simulink documentation.)

1 Open the Model Configuration Parameters dialog box.

2 In the Solver pane, select Fixed-step in the Type field.
3 Select Discrete (no continuous states) in the Solver field.
4 Enter 0.2 in the Fixed-step size (fundamental sample time) field.
5 Click OK.

Simulate the Model

Open the Scope blocks. When you simulate the model, you get the following results:

18-36
Assign Enumerated Values in a Chart

18-37
18 Enumerated Data in Charts

How the Chart Works

During simulation, the chart works as follows.

Stage 1: Execution of State A

1 After the chart wakes up, state A is entered.

2 State A executes the entry action by assigning the value RED to the enumerated
data color.
3 The data y increments once per time step (every 0.2 seconds) until the condition [y
> 6] is true.

18-38
 Assign Enumerated Values in a Chart

4 The chart takes the transition from state A to state B.

Stage 2: Execution of State B

1 After the transition from state A occurs, state B is entered.

2 State B executes the entry action by assigning the value GREEN to the enumerated
data color.
3 The data y decrements once per time step (every 0.2 seconds) until the condition [y
< 3] is true.
4 The chart takes the transition from state B to state A.

Stage 3: Repeat of State Execution

States A and B take turns executing until the simulation ends.

18-39
 19

Continuous-Time Systems in Stateflow

Charts

Continuous-Time Modeling in Stateflow on page 19-2

Model Hybrid Systems with Model Logic on page 19-5
Configure a Stateflow Chart to Update in Continuous Time on page 19-6
Define Continuous-Time Variables on page 19-9
Model a Bouncing Ball in Continuous Time on page 19-11
Design Considerations for Continuous-Time Modeling in Stateflow Charts on page
19-22
19 Continuous-Time Systems in Stateflow Charts

Continuous-Time Modeling in Stateflow

In this section...
What Is Continuous-Time Modeling? on page 19-2
When to Use Stateflow Charts for Continuous-Time Modeling on page 19-3
Model Continuous-Time with Zero-Crossing Detection on page 19-3
When to Disable Zero-Crossing Detection on page 19-4

What Is Continuous-Time Modeling?

Using continuous-time modeling you can simulate hybrid systems that use mode logic
that is, systems that respond to continuous and discrete mode changes. A simple example
of this type of hybrid system is a bouncing ball. The ball moves continuously through
the air until it hits the ground, at which point a mode change or discontinuity occurs. As
a result, the ball changes direction and velocity due to a sudden loss of energy. A later
exercise shows you how to model a bouncing ball in continuous time by using a Stateflow
chart (see Model a Bouncing Ball in Continuous Time on page 19-11).

When you configure Stateflow charts for continuous-time simulation, they interact with
the Simulink solver as follows:

Maintain mode in minor time steps.

Stateflow charts do not update mode in minor time steps. The outputs computed in a
minor time step are based on the state of the chart during the last major time step.
Compute the state of the chart at each time step and expose the state derivative to
the Simulink solver.

You can define local continuous variables to hold state information. Stateflow charts
provide programmatic access to the derivatives of state variables. Continuous solvers
in Simulink models use this data to compute the continuous states at the current
time step in the chart, based on values from the previous time steps and the state
derivatives. For more information on how solvers work, see Solvers (Simulink).
Register zero crossings on state transitions.

Stateflow charts register a zero-crossings function with a Simulink model to help

determine when a state transition occurs. When the Simulink solver detects a change

19-2
 Continuous-Time Modeling in Stateflow

of mode, it searches forward from the previous major time step to detect when the
zero crossing or state transition occurred. For more information about how a Simulink
model uses zero-crossing detection to simulate discontinuities in continuous states,
see Zero-Crossing Detection (Simulink).

When to Use Stateflow Charts for Continuous-Time Modeling

Use Stateflow charts for modeling hybrid systems with modal behavior, that is, systems
that transition from one mode to another in response to physical events and conditions.
In these systems, continuous time dynamics govern each mode. Be aware that you cannot
use Moore charts for continuous time modeling.

In Stateflow charts, you can represent mode logic succinctly and intuitively as a series
of states, transitions, and flow charts. You can also easily represent state information
as continuous local variables with automatic access to time derivatives, as described in
Purpose of Continuous-Time Variables on page 19-9.

If your continuous or hybrid system does not contain mode logic, consider using a
Simulink model (see Model a Continuous System (Simulink)).

Model Continuous-Time with Zero-Crossing Detection

You can run the following continuous-time models with zero-crossing detection.

Model Description
sf_abs Rectifier takes a single (scalar) input
and converts it to its absolute value.
Shows how Stateflow charts register zero-
crossing variables with Simulink models
for accurate detection of mode changes.
sf_bounce Shows how to model the dynamics of a
bouncing ball by defining continuous-time
state variables and their derivatives in a
Stateflow chart.

See Model a Bouncing Ball in Continuous

Time on page 19-11.

19-3
19 Continuous-Time Systems in Stateflow Charts

Model Description
sf_newtons_cradle Shows how to model elastic collisions
between balls in Newton's Cradle, a device
that conserves momentum and energy.
Uses vector assignment to continuous-time
state variables.
sf_clutch Implements the Simulink clutch example
model purely in a Stateflow chart.
Represents the modal nature of the
clutch by using two states: Locked and
Slipping.
sf_pool Shows how to model continuous systems
that have many discontinuous events,
which rapidly (and unpredictably) change
the dynamics.

When to Disable Zero-Crossing Detection

Whether to disable zero-crossing detection on state transitions can be a trade-off
between accuracy and performance. When detecting zero crossings, a Simulink model
accurately simulates mode changes without unduly reducing step size. For systems that
exhibit chattering, frequent fluctuations between two modes of continuous operation,
zero-crossing detection can potentially impact simulation time. Chattering requires
a Simulink model to check for zero crossings in rapid succession, which can slow
simulation. In these situations, you can:

Disable zero-crossing detection.

Choose a different zero-crossing detection algorithm for your chart.
Modify parameters that control the frequency of zero crossings in your Simulink
model.

More About
Model a Bouncing Ball in Continuous Time on page 19-11
Design Considerations for Continuous-Time Modeling in Stateflow Charts on page
19-22
Preventing Excessive Zero Crossings (Simulink)

19-4
 Model Hybrid Systems with Model Logic

Model Hybrid Systems with Model Logic

Here are the tasks for modeling hybrid systems containing mode logic in continuous time
using Stateflow charts.

Task Example in Bouncing Ball Model

Configure the chart to update in Task 1: Configure the Bouncing Ball Chart
continuous time. for Continuous Updating on page 19-12
Decide whether to detect zero crossings. Task 2: Decide Whether to Enable Zero-
Crossing Detection for the Bouncing Ball on
page 19-12
Define continuous-time variables. Task 3: Define Continuous-Time Variables
for Position and Velocity on page 19-12
Choose a solver that supports continuous Task 4: Choose a Solver for the Bouncing
states (see About Solvers (Simulink)). Ball Chart on page 19-13
Add system dynamics. Task 5: Add Dynamics for a Free-Falling
Ball on page 19-13
Expose continuous states to a Simulink Task 6: Expose Ball Position and Velocity
model. to the Simulink Model on page 19-15
Validate semantics, based on design Task 7: Validate Semantics of Bouncing
considerations for continuous-time Ball Chart on page 19-15
simulation.
Simulate the chart. Task 8: Simulate Bouncing Ball Chart on
page 19-15
Debug and revise. Task 9: Check for the Bounce on page
19-17

19-5
19 Continuous-Time Systems in Stateflow Charts

Configure a Stateflow Chart to Update in Continuous Time

Continuous updating is a Stateflow chart property. To set this property:

1 Right-click inside a chart and select Properties from the context menu.
2 In the Chart Properties dialog box, set the Update method to Continuous.

When you set the Update method to Continuous, the chart:

Enables zero-crossing detection

19-6
 Configure a Stateflow Chart to Update in Continuous Time

Disables super step semantics

3 Decide whether to disable zero-crossing detection, based on considerations described
in When to Disable Zero-Crossing Detection on page 19-4. You can choose from

19-7
19 Continuous-Time Systems in Stateflow Charts

different zero-crossing detection algorithms in the Model Configuration Parameters

dialog box, on the Solver pane. For details, see the Simulink documentation.
4 Click OK.

19-8
 Define Continuous-Time Variables

Define Continuous-Time Variables

In this section...
Purpose of Continuous-Time Variables on page 19-9
Implicit Time Derivatives on page 19-9
Rules for Using Continuous-Time Variables on page 19-9
How to Define Continuous-Time Variables on page 19-10
Expose Continuous States to a Simulink Model on page 19-10

Purpose of Continuous-Time Variables

To compute a continuous state, you must determine its rate of change, or derivative. You
can represent this information using local variables that update in continuous time. In a
Stateflow chart, continuous-time variables are always double type. You cannot change
the type, but you can change the size.

Implicit Time Derivatives

For each continuous variable you define, a Stateflow chart implicitly creates a
variable to represent its time derivative. A chart denotes time derivative variables as
variable_name_dot. For example, the time derivative of continuous variable x is x_dot.
You can write to the time derivative variable in the during action of a state. The time
derivative variable does not appear in the Model Explorer.

Note: Do not explicitly define variables with the suffix _dot in a chart.

Rules for Using Continuous-Time Variables

When defining and using continuous-time variables, follow these rules:

Scope can be Local or Output.

Define continuous-time variables at the chart level or below in the Stateflow
hierarchy.
Expose continuous state by assigning the local variable to a Stateflow output (see
Expose Continuous States to a Simulink Model on page 19-10).

19-9
19 Continuous-Time Systems in Stateflow Charts

How to Define Continuous-Time Variables

1 Configure your chart to update in continuous time, as described in Configure a
Stateflow Chart to Update in Continuous Time on page 19-6.
2 Add local data to your chart in the Stateflow Editor or Model Explorer.
3 In the properties dialog box for your local data, set Update Method to Continuous.

In this example, the chart automatically creates the variable mydata_dot to

represent the time derivative of this data. When you set a variable to update in
continuous time, you cannot bind that data to a Simulink signal.

Expose Continuous States to a Simulink Model

In a Stateflow chart, you represent continuous state by using local variables rather than
inputs or outputs (see Purpose of Continuous-Time Variables on page 19-9). To
expose the continuous states to a Simulink model, you must explicitly assign the local
variables to Stateflow outputs in the during action of the state. For an example, see
Model a Bouncing Ball in Continuous Time on page 19-11.

19-10
 Model a Bouncing Ball in Continuous Time

Model a Bouncing Ball in Continuous Time

In this section...
Dynamics of a Bouncing Ball on page 19-11
Model the Bouncing Ball on page 19-12

Dynamics of a Bouncing Ball

The dynamics of a bouncing ball describes the ball as it falls, when it hits the ground,
and when it bounces back up.

You can specify how the ball falls freely under gravity with the following second-order
differential equation:

&&
p = -g

p describes the position of the ball as a function of time and g = 9.81 m / s2 , which is the
acceleration due to gravity.

A Stateflow chart requires that you specify system dynamics as first-order differential
equations. You can describe the dynamics of the free-falling ball in terms of position p
and velocity v with the following first-order differential equations.

Equation Description
p& = v Derivative of position is velocity

v& = -9 .81 Derivative of velocity is acceleration

The bounce occurs after the ball hits the ground at position p <= 0. Now, you can model
the bounce by updating position and velocity as follows:

Reset position to 0.
Reset velocity to the negative of its value just before the ball hit the ground.
Multiply the new velocity by a coefficient of distribution (-0.8) that reduces the speed
just after the bounce.

19-11
19 Continuous-Time Systems in Stateflow Charts

Model the Bouncing Ball

The following steps take you through the workflow for modeling a bouncing ball in
continuous time. To view the completed model, open sf_bounce.

Task 1: Configure the Bouncing Ball Chart for Continuous Updating

1 Create an empty Stateflow chart and open its properties dialog box.
2 Set the update method to Continuous.

Task 2: Decide Whether to Enable Zero-Crossing Detection for the Bouncing Ball

For this example, enable zero-crossing detection (the default) so that the Simulink model
can determine exactly when the ball hits the ground at p <= 0. Otherwise, the Simulink
model might not be able to simulate the physics accurately. For example, the ball might
appear to descend below ground.

Task 3: Define Continuous-Time Variables for Position and Velocity

1 Define two continuous-time variables, p for position and v for velocity. For each
variable, follow these steps:

a In the Stateflow Editor, select Chart > Add Other Elements > Local Data.
b Enter the name for the local data.
c Set the update method to Continuous.
d Leave all other properties at their default values and click OK.
2 For each continuous local variable that you define, the chart implicitly creates its
time derivative as a variable of the same name with the suffix _dot. In this example,
the chart defines p_dot as the derivative of position p and v_dot as the derivative
of velocity v.
3 Define two outputs, p_out and v_out for exposing continuous state to the Simulink
model. For each variable, follow these steps:

a In the Stateflow Editor, select Chart > Add Inputs & Outputs > Data Output
To Simulink.
b Enter the name for the output data.
c Leave all other properties at their default values and click OK.

Your chart contains the following data, as viewed in the Model Explorer.

19-12
 Model a Bouncing Ball in Continuous Time

Task 4: Choose a Solver for the Bouncing Ball Chart

For this example, you can use ode45 (Dormand-Prince), the default variable-step
solver used by Simulink models with continuous states.

Task 5: Add Dynamics for a Free-Falling Ball

1 Add a state named Falling with a default transition. In the default transition, set
initial position to 10 meters and initial velocity to 15 meters/second.

19-13
19 Continuous-Time Systems in Stateflow Charts

2 Add a during action to the Falling state that defines the derivatives of position
and velocity.

The derivative of position is velocity and the derivative of velocity is acceleration due
to gravity (-g).

19-14
 Model a Bouncing Ball in Continuous Time

Task 6: Expose Ball Position and Velocity to the Simulink Model

In the during action, assign position to the output p_out and assign velocity to the
output v_out.

Task 7: Validate Semantics of Bouncing Ball Chart

Check semantics against the requirements defined in Design Considerations for

Continuous-Time Modeling in Stateflow Charts on page 19-22.

This chart meets design requirements by:

Assigning values to derivatives p_dot and v_dot in a during action

Writing to local variables p and v in a transition action
Initializing local variables on the default transition
Does not contain events, inner transitions, event-based temporal logic, or change
detection operators

Task 8: Simulate Bouncing Ball Chart

1 Attach each output to a scope.

19-15
19 Continuous-Time Systems in Stateflow Charts

2 Simulate the chart and view the outputs in the scope.

19-16
 Model a Bouncing Ball in Continuous Time

The ball appears to fall below the ground (below position p = 0) because the chart
does not yet include a check for the bounce.

Task 9: Check for the Bounce

1 Add a self-loop transition to state Falling.

19-17
19 Continuous-Time Systems in Stateflow Charts

The chart uses a self-loop transition so it can model the bounce as an instantaneous
mode change where the ball suddenly reverses direction rather than as a finite
time collision.
2 Add a condition on the transition that indicates when the ball hits the ground.

The condition must check for position p <= 0 and velocity v < 0.

19-18
 Model a Bouncing Ball in Continuous Time

Why not check for p == 0?

Physically, the ball hits the ground when position p is exactly zero. By relaxing
the condition, you increase the tolerance within which the Simulink model can
detect when the continuous variable changes sign (see How Blocks Work with Zero-
Crossing Detection (Simulink)).

Why add the second check for v < 0?

The second check helps maintain the efficiency of the Simulink solver by minimizing
the frequency of zero crossings. Without the second check, the condition becomes
true immediately following the state transition, resulting in two successive zero
crossings.
3 When the ball hits the ground, reset position and velocity in a condition action.

19-19
19 Continuous-Time Systems in Stateflow Charts

4 Simulate the chart again. This time, the scope shows the expected bounce pattern.

19-20
Model a Bouncing Ball in Continuous Time

19-21
19 Continuous-Time Systems in Stateflow Charts

Design Considerations for Continuous-Time Modeling in Stateflow

Charts
In this section...
Rationale for Design Considerations on page 19-22
Summary of Rules for Continuous-Time Modeling on page 19-22

Rationale for Design Considerations

To maintain the integrity orsmoothness of the results in continuous-time modeling,
you must constrain your charts to a restricted subset of Stateflow chart semantics. By
restricting the semantics, the inputs do not depend on unpredictable factors or side effects
such as:

Simulink solver's guess for the number of minor intervals in a major time step
Number of iterations required to stabilize the integration loop or zero crossings loop

By minimizing side effects, a Stateflow chart can maintain its state at minor time steps
and, therefore, update state only during major time steps when mode changes occur.
Using this heuristic, a Stateflow chart can always compute outputs based on a constant
state for continuous time.

To help you correct semantic violations, a Stateflow chart generates informative errors.

Summary of Rules for Continuous-Time Modeling

Here are the rules for modeling continuous-time Stateflow charts:

Update local data only in transition, entry, and exit actions

To maintain precision in continuous-time simulation, update local data (continuous or

discrete) only during physical events at major time steps.

In Stateflow charts, physical events cause state transitions. Therefore, write to local data
only in actions that execute during transitions:

State exit actions, which execute before leaving the state at the beginning of the
transition

19-22
 Design Considerations for Continuous-Time Modeling in Stateflow Charts

Transition actions, which execute during the transition

State entry actions, which execute after entering the new state at the end of the
transition
Condition actions on a transition, but only if the transition directly reaches a state

Consider the following chart.

In this example, the action {n++} executes even when conditions c2 and c3 are false.
In this case, n gets updated in a minor time step because there is no state transition.

Do not write to local continuous data in during actions because these actions execute in
minor time steps.

Do not call Simulink functions in state during actions or transition conditions

This rule applies to continuous-time charts because you cannot call functions during
minor time steps. You can call Simulink functions in state entry or exit actions and
transition actions. If you try to call Simulink functions in state during actions or
transition conditions, an error message appears when you simulate your model.

For more information, see Simulink Functions in Stateflow on page 27-2.

Compute derivatives only in during actions

A Simulink model reads continuous-time derivatives during minor time steps. The only
part of a Stateflow chart that executes during minor time steps is the during action.
Therefore, compute derivatives in during actions to give your Simulink model the most
current calculation.

19-23
19 Continuous-Time Systems in Stateflow Charts

Do not read outputs and derivatives in state during actions or transition conditions

This restriction provides smooth outputs in a major time step by preventing a chart from
using values that might no longer be valid in the current minor time step. Instead, a
chart computes outputs from local discrete data, local continuous data, and chart inputs.

Use discrete variables to govern conditions in during actions

This restriction prevents mode changes from occurring between major time steps. When
placed in during actions, conditions that affect control flow must be governed by discrete
variables because they do not change between major time steps.

Do not use input events in continuous-time charts

The presence of input events makes a chart behave like a triggered subsystem and
therefore unable to simulate in continuous time. For example, the following model
generates an error if the chart uses a continuous update method.

To model the equivalent of an input event, pass the input signal through a Hit Crossing
block as an input to the continuous chart, as in this example.

Do not use inner transitions

When a mode change occurs during continuous-time simulation, the entry action of
the destination state indicates to the Simulink model that a state transition occurred. If
inner transitions are taken, the entry action is never executed.

19-24
 Design Considerations for Continuous-Time Modeling in Stateflow Charts

Limit use of temporal logic

Do not use event-based temporal logic. Use only absolute-time temporal logic for
continuous-time simulation. See Operators for Absolute-Time Temporal Logic on page
11-63.

Event-based temporal logic has no meaning because there is no concept of a tick during a
continuous-time simulation.

The chart must have at least one substate

In continuous-time simulation, the during action of a state updates the outputs. A

chart with no state produces no output. To simulate the behavior of a stateless chart
in continuous time, create a single state which calls a graphical function in its during
action.

Do not use change detection operators in continuous charts

To implement change detection, Stateflow software buffers variables in a way that affects
the behavior of charts between a minor time step and the next major time step.

Do not modify any SimState values for continuous-time charts

If you load the SimState for a continuous-time chart, you cannot modify the activity
of states or any values of chart local or output data. Modifying the SimState of a
continuous-time chart is not supported. For more information, see Rules for Using the
SimState of a Chart on page 15-37.

More About
Model a Bouncing Ball in Continuous Time on page 19-11
Continuous-Time Modeling in Stateflow on page 19-2

19-25
 20

Fixed-Point Data in Stateflow Charts

What Is Fixed-Point Data? on page 20-2

How Fixed-Point Data Works in Stateflow Charts on page 20-5
Use Fixed-Point Chart Inputs on page 20-12
Use Fixed-Point Parameters and Local Data on page 20-17
Operations with Fixed-Point Data on page 20-23
20 Fixed-Point Data in Stateflow Charts

What Is Fixed-Point Data?

In this section...
Before You Begin on page 20-2
Fixed-Point Numbers on page 20-2
Fixed-Point Operations on page 20-3

Before You Begin

Fixed-point numbers use integers and integer arithmetic to approximate real numbers.
They are an efficient means for performing computations involving real numbers without
requiring floating-point support in underlying system hardware.

See Tips for Using Fixed-Point Data on page 20-8.

Fixed-Point Numbers
Fixed-point numbers use integers and integer arithmetic to represent real numbers and
arithmetic with the following encoding scheme:

~
V = V = SQ + B

where

V is a precise real-world value that you want to approximate with a fixed-point

number.
~
V is the approximate real-world value that results from fixed-point representation.
~
Q is an integer that encodes V . This value is the quantized integer.

Q is the actual stored integer value used in representing the fixed-point number. If
a fixed-point number changes, its quantized integer, Q, changes but S and B remain
unchanged.
S is a coefficient of Q, or the slope.
B is an additive correction, or the bias.

20-2
 What Is Fixed-Point Data?

Fixed-point numbers encode real quantities (for example, 15.375) using the stored
integer Q. You set the value of Q by solving the equation

~
V = SQ + B

for Q and rounding the result to an integer value as follows:

Q = round((V B)/S)

For example, suppose you want to represent the number 15.375 in a fixed-point type with
the slope S = 0.5 and the bias B = 0.1. This means that
Q = round((15.375 0.1)/0.5) = 30

However, because Q is rounded to an integer, you lose some precision in representing the
number 15.375. If you calculate the number that Q actually represents, you now get a
slightly different answer.

~
V = V = SQ + B = 0 .5 30 + 0.1 = 15 .1

Using fixed-point numbers to represent real numbers with integers involves the loss of
some precision. However, if you choose S and B correctly, you can minimize this loss to
acceptable levels.

Fixed-Point Operations
~
Now that you can express fixed-point numbers as V = SQ + B, you can define operations
between two fixed-point numbers.

The general equation for an operation between fixed-point operands is as follows:

c = a <op> b

where a, b, and c are all fixed-point numbers, and <op> refers to a binary operation:
addition, subtraction, multiplication, or division.

The general form for a fixed-point number x is SxQx + Bx (see Fixed-Point Numbers
on page 20-2). Substituting this form for the result and operands in the preceding
equation yields this expression:
(ScQc + Bc) = (SaQa + Ba) <op> (SbQb + Bb)

20-3
20 Fixed-Point Data in Stateflow Charts

The values for Sc and Bc are chosen by Stateflow software for each operation (see
Promotion Rules for Fixed-Point Operations on page 20-25) and are based on the
values for Sa, Sb, Ba and Bb that you enter for each fixed-point data (see Specify Fixed-
Point Data on page 20-6).

Note: You can be more precise in choosing the values for Sc and Bc when you use the :=
assignment operator (that is, c := a <op> b). See Assignment (=, :=) Operations on
page 20-30.

Using the values for Sa, Sb, Sc, Ba, Bb, and Bc, you can solve the preceding equation for Qc
for each binary operation as follows:

The operation c=a+b implies that

Qc = ((Sa/Sc)Qa + (Sb/Sc)Qb + (Ba + Bb Bc)/Sc)
The operation c=a-b implies that
Qc = ((Sa/Sc)Qa (Sb/Sc)Qb (Ba Bb Bc)/Sc)
The operation c=a*b implies that
Qc = ((SaSb/Sc)QaQb + (BaSb/Sc)Qa + (BbSa/Sc)Qb + (BaBb Bc)/Sc)
The operation c=a/b implies that
Qc = ((SaQa + Ba)/(Sc(SbQb + Bb)) (Bc/Sc))

The fixed-point approximations of the real number result of the operation c = a <op>
b are given by the preceding solutions for the value Qc. In this way, all fixed-point
operations are performed using only the stored integer Q for each fixed-point number and
integer operation.

20-4
 How Fixed-Point Data Works in Stateflow Charts

How Fixed-Point Data Works in Stateflow Charts

In this section...
How Stateflow Software Defines Fixed-Point Data on page 20-5
Specify Fixed-Point Data on page 20-6
Rules for Specifying Fixed-Point Word Length on page 20-7
Fixed-Point Context-Sensitive Constants on page 20-7
Tips for Using Fixed-Point Data on page 20-8
Detect Overflow for Fixed-Point Types on page 20-10
Share Fixed-Point Data with Simulink Models on page 20-10

How Stateflow Software Defines Fixed-Point Data

The preceding example in What Is Fixed-Point Data? on page 20-2 does not answer the
question of how the values for the slope, S, the quantized integer, Q, and the bias, B, are
implemented as integers. These values are implemented as follows:

Stateflow software defines a fixed-point data type from values that you specify.

You specify values for S, B, and the base integer type for Q. The available base types
for Q are the unsigned integer types uint8, uint16, and uint32, and the signed
integer types int8, int16, and int32. For specific instructions on how to enter fixed-
point data, see Specify Fixed-Point Data on page 20-6.

Notice that if a fixed-point number has a slope S = 1 and a bias B = 0, it is equivalent

to its quantized integer Q, and behaves exactly as its base integer type.
Stateflow software implements an integer variable for the Q value of each fixed-point
data in generated code.

This is the only part of a fixed-point number that varies in value. The quantities S
and B are constant and appear only as literal numbers or expressions in generated
code.
The slope, S, is factored into an integer power of two, E, and a coefficient, F, such that
S = F 2E and 1 F < 2.

The powers of 2 are implemented as bit shifts, which are more efficient than multiply
instructions. Setting F = 1 avoids the computationally expensive multiply instructions

20-5
20 Fixed-Point Data in Stateflow Charts

for values of F > 1. This binary-point-only scaling is implemented with bit shifts only
and is recommended.
Operations for fixed-point types are implemented with solutions for the quantized
integer as described in Fixed-Point Operations on page 20-3.

To generate efficient code, the fixed-point promotion rules choose values for Sc and
Bc that conveniently cancel out difficult terms in the solutions. See Addition (+) and
Subtraction (-) on page 20-28 and Multiplication (*) and Division (/) on page
20-28.

You can use a special assignment operator (:=) and context-sensitive constants
to maintain as much precision as possible in your fixed-point operations. See
Assignment (=, :=) Operations on page 20-30 and Fixed-Point Context-Sensitive
Constants on page 20-7.
Any remaining numbers, such as the fractional slope, F, that cannot be expressed as a
pure integer or a power of 2, are converted into fixed-point numbers.

These remaining numbers can be computationally expensive in multiplication and

division operations. Therefore, using binary-point-only scaling in which F = 1 and B =
0 is recommended.
Simulation can detect when the result of a fixed-point operation overflows the
capacity of its fixed-point type. See Detect Overflow for Fixed-Point Types on page
20-10.

Specify Fixed-Point Data

You can specify fixed-point data in a chart as follows:

1 Add data to your chart, as described in Add Data from the Stateflow Editor on page
8-2.

Doing so adds a default definition of the new data object to the Stateflow hierarchy,
and the Data properties dialog box appears.
2
Click the Show data type assistant button to display the Data Type
Assistant.
3 In the Mode field of the Data Type Assistant, select Fixed point.
4 Specify the fixed-point data properties as described in Fixed-Point Data Properties
on page 8-11.

20-6
 How Fixed-Point Data Works in Stateflow Charts

5 Specify the name, size, and other properties for the new data object as described in
Set Data Properties on page 8-6.

Note: You can also specify a fixed-point constant indirectly in action statements by using
a fixed-point context-sensitive constant. See Fixed-Point Context-Sensitive Constants
on page 20-7.

Rules for Specifying Fixed-Point Word Length

For chart-level data of the following scopes, word length can be any integer between 0
and 128.

Input
Output
Parameter
Data Store Memory
For other Stateflow data, word length can be any integer between 0 and 32.
You can explicitly pass chart-level data with word lengths up to 128 bits as inputs and
outputs of the following functions:

MATLAB functions
Simulink functions
Truth table functions that use MATLAB action language

Fixed-Point Context-Sensitive Constants

You can use fixed-point constants without using the Data properties dialog box or Model
Explorer, by using context-sensitive constants. These constants infer their types from
the context in which they occur. They are written like ordinary constants, but have the
suffix C or c. For example, the numbers 4.3C and 123.4c are valid fixed-point context-
sensitive constants you can use in action statements.

These rules apply to context-sensitive constants:

If any type in the context is a double, then the context-sensitive constant is cast to
type double.

20-7
20 Fixed-Point Data in Stateflow Charts

In an addition or subtraction operation, the type of the context-sensitive constant is

the type of the other operand.
In a multiplication or division operation with a fixed-point number, they obtain the
best possible precision for a fixed-point result.

The Fixed-Point Designer function fixptbestexp provides this functionality.

In a cast, the context is the type to which the constant is being cast.
As an argument in a function call, the context is the type of the formal argument. In
an assignment, the context is the type of the left-hand operand.
You cannot use context-sensitive constants on the left-hand side of an assignment.
You cannot use context-sensitive constants as both operands of a binary operation.

While you can use fixed-point context-sensitive constants in context with any types (for
example, int32 or double), their main use is with fixed-point numbers. The algorithm
that computes the type to assign to a fixed-point context-sensitive constant depends on
these factors:

The operator
The data types in the context
The value of the constant

The algorithm computes a type that provides maximum accuracy without overflow.

Tips for Using Fixed-Point Data

When you use fixed-point numbers, follow these guidelines:

1 Develop and test your application using double- or single-precision floating-point

numbers.

Using double- or single-precision floating-point numbers does not limit the range
or precision of your computations. You need this while you are building your
application.
2 Once your application works well, start substituting fixed-point data for double-
precision data during the simulation phase, as follows:

a Set the integer word size for the simulation environment to the integer size of
the intended target environment.

20-8
 How Fixed-Point Data Works in Stateflow Charts

Stateflow generated code uses this integer size to select result types for your
fixed-point operations. See Set the Integer Word Size for a Target on page
20-26.
b Add the suffix C to literal numeric constants.

This suffix casts a literal numeric constant in the type of its context. For
example, if x is fixed-point data, the expression y = x/3.2C first converts
the numerical constant 3.2 to the fixed-point type of x and then performs the
division with a fixed-point result. See Fixed-Point Context-Sensitive Constants
on page 20-7 for more information.

Note: If you do not use context-sensitive constants with fixed-point types,

noninteger numeric constants (for example, constants that have a decimal point)
can force fixed-point operations to produce floating-point results.
3 When you simulate, use overflow detection.

See Detect Overflow for Fixed-Point Types on page 20-10 for instructions on
how to set overflow detection in simulation.
4 If you encounter overflow errors in fixed-point data, you can do one of the following
to add range to your data.

Increase the number of bits in the overflowing fixed-point data.

For example, change the base type for Q from int16 to int32.
Increase the range of your fixed-point data by increasing the power of 2 value, E.

For example, you can increase E from 2 to 1. This action decreases the
available precision in your fixed-point data.
5 If you encounter problems with model behavior stemming from inadequate precision
in your fixed-point data, you can do one of the following to add precision to your data:

Increase the precision of your fixed-point data by decreasing the value of the
power of 2 binary point E.

For example, you can decrease E from 2 to 3. This action decreases the
available range in your fixed-point data.
If you decrease the value of E, you can prevent overflow by increasing the number
of bits in the base data type for Q.

20-9
20 Fixed-Point Data in Stateflow Charts

For example, you can change the base type for Q from int16 to int32.
6 If you cannot avoid overflow for lack of precision, try using the := assignment
operator in place of the = operator for assigning the results of multiplication and
division operations.

You can use the := operator to increase the range and precision of the result of
fixed-point multiplication and division operations at the expense of computational
efficiency. See Assignment Operator := on page 20-31.

Detect Overflow for Fixed-Point Types

Overflow occurs when the magnitude of a result assigned to a data exceeds the numeric
capacity of that data. To detect overflow during simulation, set Wrap on overflow in
the Diagnostics: Data Validity pane of the Model Configuration Parameters dialog box
to error or warning.

Share Fixed-Point Data with Simulink Models

To share fixed-point data with Simulink models, use one of these methods:

Define identically in both Stateflow charts and Simulink models the data that you
input from or output to Simulink blocks.

The values that you enter for the Stored Integer and Scaling fields in the shared
data's properties dialog box in a Stateflow chart (see Specify Fixed-Point Data on
page 20-6) must match similar fields that you enter for fixed-point data in a
Simulink model. See Use Fixed-Point Chart Inputs on page 20-12 for an example
of this method of sharing input data from a Simulink model using a Gateway In block.

For some Simulink blocks, you can specify the type of input or output data directly.
For example, you can set fixed-point output data directly in the block dialog box of the
Constant block by using the Output data type parameter.
Define the data as Input or Output in the Data properties dialog box in the
Stateflow chart and instruct the sending or receiving block in the Simulink model to
inherit its type from the chart data.

Many blocks allow you to set their data types and scaling through inheritance from
the driving block, or through back propagation from the next block. You can set the

20-10
 How Fixed-Point Data Works in Stateflow Charts

data type of a Simulink block to match the data type of the Stateflow port to which it
connects.

For example, you can set the Constant block to inherit its type from the Stateflow
Input to Simulink port that it supplies. To do so, select Inherit via back
propagation for the Output data type parameter in the block dialog box.

20-11
20 Fixed-Point Data in Stateflow Charts

Use Fixed-Point Chart Inputs

In this section...
Run the Fixed-Point "Bang-Bang Control" Model on page 20-12
Explore the Fixed-Point "Bang-Bang Control" Model on page 20-13

Run the Fixed-Point "Bang-Bang Control" Model

Stateflow software includes example models with applications of fixed-point data. For
this example, load the model by typing sf_boiler at the MATLAB command prompt.

When you simulate the model, you get these results:

20-12
 Use Fixed-Point Chart Inputs

Explore the Fixed-Point "Bang-Bang Control" Model

To explore the model, follow these steps:

1 Double-click the Boiler Plant model subsystem block.

The subsystem appears.

20-13
20 Fixed-Point Data in Stateflow Charts

The Boiler Plant model subsystem simulates the temperature reaction of the boiler
to periods of heating or cooling dictated by the Stateflow block. Depending on the
Boolean value coming from the Controller, a temperature increment (+1 for heating,
0.1 for cooling) is added to the previous boiler temperature. The resulting boiler
temperature is sent to the digital thermometer subsystem block.
2 In the Boiler Plant model subsystem, double-click the digital thermometer
subsystem block.

The subsystem appears.

The digital thermometer subsystem produces an 8-bit fixed-point representation of the

input temperature with the blocks described in the sections that follow.

sensor Block

The sensor block converts input boiler temperature (T) to an intermediate analog voltage
output V with a first-order polynomial that gives this output:
V = 0.05 T + 0.75

ADC Block

Double-click the ADC block to reveal these contents:

20-14
 Use Fixed-Point Chart Inputs

The ADC subsystem digitizes the analog voltage from the sensor block by multiplying the
analog voltage by 256/5, rounding it to its integer floor, and limiting it to a maximum of
255 (the largest unsigned 8-bit integer value). Using the value for the output V from the
sensor block, the new digital coded temperature output by the ADC block, Tdigital, is given
by this equation:
Tdigital = (256/5) V = (256 0.05/5) T + (256/5) 0.75

Linear fixed point conversion Block

The Linear fixed point conversion block informs the rest of the model that Tdigital is a
fixed-point number with a slope value of 5/256/0.05 and an intercept value of 0.75/0.05.
The Stateflow block Bang-Bang Controller receives this output and interprets it as a
fixed-point number through the Stateflow data temp, which is scoped as Input from
Simulink and set as an unsigned 8-bit fixed-point data with the same values for S and B
set in the Linear fixed point conversion block.

The values for S and B are determined from the general expression for a fixed-point
number:
V = SQ + B

Therefore,
Q = (V B)/S = (1/S) V + (1/S) B

Since Tdigital is now a fixed-point number, it is now the quantized integer Q of a fixed-
point type. This means that Tdigital = Q of its fixed-point type, which gives this relation:
(1/S) V + (1/S) B = (256 0.05/5) T + (256/5) 0.75

Since T is the real-world value for the environment temperature, the above equation
implies these relations:
V=T

and
1/S = (256 0.05)/5
S = 5/(256 0.05) = 0.390625

and

20-15
20 Fixed-Point Data in Stateflow Charts

(1/S) B = (256/5) 0.75

B = (256/5) 0.75 5/(256 0.05) = 0.75/0.05 = 15

By setting Tdigital to be a fixed-point data as the output of the Linear fixed point
conversion block and the input of the Stateflow block Bang-Bang Controller, the
Stateflow chart interprets and processes this data automatically in an 8-bit environment
with no need for any explicit conversions.

20-16
 Use Fixed-Point Parameters and Local Data

Use Fixed-Point Parameters and Local Data

In this section...
Goal of the Tutorial on page 20-17
Build the Fixed-Point Butterworth Filter on page 20-17
Define the Model Callback Function on page 20-18
Add Other Blocks to the Model on page 20-19
Set Model Configuration Parameters on page 20-21
Run the Model on page 20-21

Goal of the Tutorial

In the sections that follow, you build a model that uses fixed-point parameters and local
data in a Stateflow chart. In this model, the chart acts as a low-pass Butterworth filter:

Building this model requires a Signal Processing Toolbox license.

Build the Fixed-Point Butterworth Filter

In this section, you create a stateless flow chart that accepts one input and provides one
output.

1 At the MATLAB prompt, type sfnew to create a new model with an empty chart.
2 In your chart, add a flow chart with a single branch:

20-17
20 Fixed-Point Data in Stateflow Charts

The values b0, b1, and a1 are the coefficients of the low-pass Butterworth filter.
For more information about the filter coefficients, see Define the Model Callback
Function on page 20-18.
3 Add the following data to your chart:
Data Name Scope Type
x Input Inherit:Same as
Simulink
y Output fixdt(1,16,10)
x_n1 Local fixdt(1,16,12)
y_n1 Local fixdt(1,16,10)
b0 Parameter fixdt(1,16,15)
b1 Parameter fixdt(1,16,15)
a1 Parameter fixdt(1,16,15)
4 Save your model.

Define the Model Callback Function

In this section, you define a preload callback for the model. This callback function
computes the values for b0, b1, and a1 in the chart.

1 Open the Model Properties dialog box by selecting File > Model Properties >
Model Properties in the model window.
2 In the Callbacks tab, select PreLoadFcn.
3 Enter the following MATLAB code for the preload function:
Fs = 1000;

20-18
 Use Fixed-Point Parameters and Local Data

Fc = 50;
[B,A] = butter(1,2*pi*Fc/(Fs/2));
b0 = B(1);
b1 = B(2);
a1 = A(2);

In the code:

The sampling frequency Fs is 1000 Hz.

The cutoff frequency Fc is 50 Hz.
The butter function constructs a first-order low-pass Butterworth filter with
a normalized cutoff frequency of (2*pi*Fc/(Fs/2)) radians per second. The
function output B contains the numerator coefficients of the filter in descending
powers of z. The function output A contains the denominator coefficients of the
filter in descending powers of z.
4 Click OK to close the dialog box.
5 Save your model.

Add Other Blocks to the Model

In this section, you add the remaining blocks to the model.

1 Open the Simulink Library Browser.

2 From the Simulink/Sources library, add a Sine Wave block with the following
parameter settings to the model:

Parameter Setting
Sine type Time based
Time Use simulation time
Amplitude 1
Bias 0
Frequency 2*pi*Fc
Phase 0
Sample time 1/Fs
Interpret vector parameters as 1-D On

20-19
20 Fixed-Point Data in Stateflow Charts

The Sine Wave block provides the signal that you want to filter using the Stateflow
chart. This block outputs a floating-point signal.
3 From the Simulink/Signal Attributes library, add a Data Type Conversion block with
the following parameter settings to the model:

Parameter Setting
Output minimum []
Output maximum []
Output data type fixdt(1,16,14)
Lock output data type setting Off
against changes by the fixed-point
tools
Input and output to have equal Real World Value (RWV)
Integer rounding mode Floor
Saturate on integer overflow Off
Sample time -1

The Data Type Conversion block converts the floating-point signal from the Sine
Wave block to a fixed-point signal. By converting the signal to a fixed-point type, the
model can simulate using less memory.
4 From the Simulink/Sinks library, add a Scope block to the model.
5 Connect and label the blocks as follows:

6 Close the Library Browser and save your model.

20-20
 Use Fixed-Point Parameters and Local Data

Set Model Configuration Parameters

In this section, you specify solver and diagnostic options for simulation.

1 In the Stateflow Editor, select Simulation > Model Configuration Parameters.

2 In the Solver pane, set the following parameters:

Parameter Setting
Stop time 0.1
Type Fixed-step
Solver discrete (no continuous states)
Fixed-step size (fundamental sample 1/Fs
time)

Because none of the blocks in your model have a continuous sample time, a discrete
solver is appropriate. For more information, see Solver Pane (Simulink).
3 Click OK to close the dialog box.
4 Save and close your model.

Run the Model

When you reopen and simulate the model, you see these results in the scope:

20-21
20 Fixed-Point Data in Stateflow Charts

The top signal shows the fixed-point version of the sine wave input to the chart. The
bottom signal corresponds to the filtered output from the chart. The filter removes high-
frequency values from the signal but allows low-frequency values to pass through the
chart unchanged.

20-22
 Operations with Fixed-Point Data

Operations with Fixed-Point Data

In this section...
Supported Operations with Fixed-Point Operands on page 20-23
Promotion Rules for Fixed-Point Operations on page 20-25
Assignment (=, :=) Operations on page 20-30
Fixed-Point Conversion Operations on page 20-37
Automatic Scaling of Stateflow Fixed-Point Data on page 20-38

Supported Operations with Fixed-Point Operands

Binary Operations

These binary operations work with fixed-point operands in the following order of
precedence (0 = highest, 8 = lowest). For operations with equal precedence, they evaluate
in order from left to right:

Example Precedence Description

a %% b 0 Remainder
a * b 1 Multiplication
a / b 1 Division
a + b 2 Addition
a - b 2 Subtraction
a > b 3 Comparison, greater than
a < b 3 Comparison, less than
a >= b 3 Comparison, greater than or equal to
a <= b 3 Comparison, less than or equal to
a == b 4 Comparison, equality
a ~= b 4 Comparison, inequality
a != b 4 Comparison, inequality
a <> b 4 Comparison, inequality

20-23
20 Fixed-Point Data in Stateflow Charts

Example Precedence Description

a & b 5 One of the following:

Bitwise AND

Enabled when Enable C-bit operations is selected

in the Chart properties dialog box. See Specify
Chart Properties on page 22-3. Operands are
cast to integers before the operation is performed.
Logical AND

Enabled when Enable C-bit operations is cleared

in the Chart properties dialog box.
a | b 6 One of the following:

Bitwise OR

Enabled when Enable C-bit operations is selected

in the Chart properties dialog box. See Specify
Chart Properties on page 22-3. Operands are
cast to integers before the operation is performed.
Logical OR

Enabled when Enable C-bit operations is cleared

in the Chart properties dialog box.
a && b 7 Logical AND
a || b 8 Logical OR

Unary Operations and Actions

These unary operations and actions work with fixed-point operands:

Example Description
~a Unary minus
!a Logical NOT
a++ Increment
a-- Decrement

20-24
 Operations with Fixed-Point Data

Assignment Operations

These assignment operations work with fixed-point operands:

Example Description
a = expression Simple assignment
a := expression See Assignment Operator := on page 20-31.
a += expression Equivalent to a = a + expression
a -= expression Equivalent to a = a - expression
a *= expression Equivalent to a = a * expression
a /= expression Equivalent to a = a / expression
a |= expression Equivalent to a = a | expression (bit operation).
See operation a | b in Binary Operations on page
20-23.
a &= expression Equivalent to a = a & expression (bit operation).
See operation a & b in Binary Operations on page
20-23.

Promotion Rules for Fixed-Point Operations

Operations with at least one fixed-point operand require rules for selecting the type of
the intermediate result for that operation. For example, in the action statement c = a +
b, where a or b is a fixed-point number, an intermediate result type for a + b must first
be chosen before the result is calculated and assigned to c.

The rules for selecting the numeric types used to hold the results of operations with a
fixed-point number are called fixed-point promotion rules. The goal of these rules is to
maintain computational efficiency and usability.

Note: You can use the := assignment operator to override the fixed-point promotion rules
and obtain greater accuracy. However, in this case, greater accuracy can require more
computational steps. See Assignment Operator := on page 20-31.

The following topics describe the process of selecting an intermediate result type for
binary operations with at least one fixed-point operand.

20-25
20 Fixed-Point Data in Stateflow Charts

Default Selection of the Number of Bits of the Result Type

A fixed-point number with S = 1 and B = 0 is treated as an integer. In operations with

integers, the C language promotes any integer input with fewer bits than the type int to
the type int and then performs the operation.

The type int is the integer word size for C on a given platform. Result word size is
increased to the integer word size because processors can perform operations at this size
efficiently.

To maintain consistency with the C language, this default rule applies to assigning the
number of bits for the result type of an operation with fixed-point numbers:

When both operands are fixed-point numbers, the number of bits in the result type is the
maximum number of bits in the input types or the number of bits in the integer word size
for the target machine, whichever is larger.

Note: The preceding rule is a default rule for selecting the bit size of the result for
operations with fixed-point numbers. This rule is overruled for specific operations as
described in the sections that follow.

Set the Integer Word Size for a Target

The preceding default rule for selecting the bit size of the result for operations with fixed-
point numbers relies on the definition of the integer word size for your target. You can set
the integer word size for the targets that you build in Simulink models with these steps:

1 In the Stateflow Editor, select Simulation > Model Configuration Parameters.

2 Select Hardware Implementation in the left navigation panel.

The right panel displays configuration parameters for production hardware and test
hardware.
3 To set integer word size for production hardware, follow these steps:

In the drop-down menu for the Device type field, select Custom.
In the int field, enter a word size in bits.
4 To set integer word size for test hardware, follow these steps:

If no configuration fields appear, clear the None check box.

20-26
 Operations with Fixed-Point Data

In the drop-down menu for the Device type field, select Custom.
In the int field, enter a word size in bits.
5 Click OK to accept the changes.

When you build any target after making this change, the generated code uses this integer
size to select result types for your fixed-point operations.

Note: Set all available integer sizes because they affect code generation. The integer sizes
do not affect the implementation of the fixed-point promotion rules in generated code.

Unary Promotions

Only the unary minus (-) operation requires a promotion of its result type. The word size
of the result is given by the default procedure for selecting the bit size of the result type
for an operation involving fixed-point data. See Default Selection of the Number of Bits
of the Result Type on page 20-26. The bias, B, of the result type is the negative of the
bias of the operand.

Binary Operation Promotion for Integer Operand with Fixed-Point Operand

Integers as operands in binary operations with fixed-point numbers are treated as fixed-
point numbers of the same word size with slope, S, equal to 1, and a bias, B, equal to 0.
The operation now becomes a binary operation between two fixed-point operands. See
Binary Operation Promotion for Two Fixed-Point Operands on page 20-28.

Binary Operation Promotion for Double Operand with Fixed-Point Operand

When one operand is of type double in a binary operation with a fixed-point type, the
result type is double. In this case, the fixed-point operand is cast to type double, and
the operation is performed.

Binary Operation Promotion for Single Operand with Fixed-Point Operand

When one operand is of type single in a binary operation with a fixed-point type, the
result type is single. In this case, the fixed-point operand is cast to type single, and
the operation is performed.

20-27
20 Fixed-Point Data in Stateflow Charts

Binary Operation Promotion for Two Fixed-Point Operands

Operations with both operands of fixed-point type produce an intermediate result of

fixed-point type. The resulting fixed-point type is chosen through the application of a set
of operator-specific rules. The procedure for producing an intermediate result type from
an operation with operands of different fixed-point types is summarized in these topics:

Addition (+) and Subtraction (-) on page 20-28

Multiplication (*) and Division (/) on page 20-28
Relational Operations (>, <, >=, <=, ==, -=, !=, <>) on page 20-29
Logical Operations (&, |, &&, ||) on page 20-29

Addition (+) and Subtraction (-)

The output type for addition and subtraction is chosen so that the maximum positive
range of either input can be represented in the output while preserving maximum
precision. The base word type of the output follows the rule in Default Selection of
the Number of Bits of the Result Type on page 20-26. To simplify calculations and
yield efficient code, the biases of the two inputs are added for an addition operation and
subtracted for a subtraction operation.

Note: Mixing signed and unsigned operands can yield unexpected results and is not
recommended.

Multiplication (*) and Division (/)

The output type for multiplication and division is chosen to yield the most efficient
code implementation. You cannot use nonzero biases for multiplication and division in
Stateflow charts (see note).

The slope for the result type of the product of the multiplication of two fixed-point
numbers is the product of the slopes of the operands. Similarly, the slope of the result
type of the quotient of the division of two fixed-point numbers is the quotient of the
slopes. The base word type is chosen to conform to the rule in Default Selection of the
Number of Bits of the Result Type on page 20-26.

Note: Because nonzero biases are computationally very expensive, those biases are not
supported for multiplication and division.

20-28
 Operations with Fixed-Point Data

Relational Operations (>, <, >=, <=, ==, -=, !=, <>)

You can use the following relational (comparison) operations on all fixed-point types:
>, <, >=, <=, ==, -=, !=, <>. See Supported Operations with Fixed-Point Operands on
page 20-23 for an example and description of these operations. Both operands in a
comparison must have equal biases (see note).

Comparing fixed-point values of different types can yield unexpected results because
each operand must convert to a common type for comparison. Because of rounding or
overflow errors during the conversion, values that do not appear equal might be equal
and values that appear to be equal might not be equal.

Note: To preserve precision and minimize unexpected results, both operands in a

comparison operation must have equal biases.

For example, compare these two unsigned 8-bit fixed-point numbers, a and b, in an 8-bit
target environment:

Fixed-Point Number a Fixed-Point Number b

4
Sa = 2 Sb = 22
Ba = 0 Bb = 0
Va = 43.8125 Vb = 43.75
Qa = 701 Qb = 175

By rule, the result type for comparison is 8-bit. Converting b, the least precise operand,
to the type of a, the most precise operand, could result in overflow. Consequently,
a is converted to the type of b. Because the bias values for both operands are 0, the
conversion occurs as follows:
Sb (newQa) = SaQa
newQa = (SaSb) Qa = (24/22) 701 = 701/4 = 175

Although they represent different values, a and b are considered equal as fixed-point
numbers.
Logical Operations (&, |, &&, ||)

If a is a fixed-point number used in a logical operation, it is interpreted with the

equivalent substitution a != 0.0C where 0.0C is an expression for zero in the fixed-

20-29
20 Fixed-Point Data in Stateflow Charts

point type of a (see Fixed-Point Context-Sensitive Constants on page 20-7). For

example, if a is a fixed-point number in the logical operation a && b, this operation is
equivalent to the following:

(a != 0.0C) && b

The preceding operation is not a check to see whether the quantized integer for a, Qa, is
not 0. If the real-world value for a fixed-point number a is 0, this implies that Va = SaQa +
Ba = 0.0. Therefore, the expression a != 0, for fixed-point number a, is equivalent to this
expression:
Qa ! = Ba / Sa

For example, if a fixed-point number, a, has a slope of 22, and a bias of 5, the test a !=
0 is equivalent to the test if Qa ! = 20.

Assignment (=, :=) Operations

You can use the assignment operations LHS = RHS and LHS := RHS between a left-
hand side (LHS) and a right-hand side (RHS). See these topics for examples that contrast
the two assignment operations:

Assignment Operator = on page 20-30

Assignment Operator := on page 20-31
When to Use the := Operator Instead of the = Operator on page 20-31
Avoid Overflow Using the := Operator for Addition and Subtraction on page
20-31
Avoid Overflow Using the := Operator for Multiplication on page 20-34
Improve Precision Using the := Operator for Division on page 20-35
:= Assignment and Context-Sensitive Constants on page 20-37

Assignment Operator =

An assignment statement of the type LHS = RHS is equivalent to casting the right-hand
side to the type of the left-hand side. You can use any assignment between fixed-point
types and therefore, implicitly, any cast.

A cast converts the stored integer Q from its original fixed-point type while preserving its
value as accurately as possible using the online conversions (see Fixed-Point Conversion

20-30
 Operations with Fixed-Point Data

Operations on page 20-37). Assignments are most efficient when both types have the
same bias, and slopes that are equal or both powers of 2.

Assignment Operator :=

Ordinarily, the fixed-point promotion rules determine the result type for an operation.
Using the := assignment operator overrides this behavior by using the type of the LHS as
the result type of the RHS operation.

These rules apply to the := assignment operator:

The RHS can contain at most one binary operator.

If the RHS contains anything other than an addition (+), subtraction (-),
multiplication (*), or division (/) operation, or a constant, then the := assignment
behaves like regular assignment (=).
Constants on the RHS of an LHS := RHS assignment are converted to the type of the
left-hand side using offline conversion (see Fixed-Point Conversion Operations on
page 20-37). Ordinary assignment always casts the RHS using online conversions.

When to Use the := Operator Instead of the = Operator

Use the := assignment operator instead of the = assignment operator in these cases:

Arithmetic operations where you want to avoid overflow

Multiplication and division operations where you want to retain precision

Caution Using the := assignment operator to produce a more accurate result can generate
code that is less efficient than the code you generate using the normal fixed-point
promotion rules.

Avoid Overflow Using the := Operator for Addition and Subtraction

This model contains a Stateflow chart with two inputs and eight outputs.

20-31
20 Fixed-Point Data in Stateflow Charts

The chart contains a graphical function that compares the use of the = and := assignment
operators.

If you generate code for this model, you see code similar to this.

20-32
 Operations with Fixed-Point Data

/* Exported block signals */

int16_T x1; /* '<Root>/Input' */
int16_T x2; /* '<Root>/Input1' */
int32_T y1; /* '<Root>/Chart' */
int32_T y2; /* '<Root>/Chart' */
int32_T z1; /* '<Root>/Chart' */
int32_T z2; /* '<Root>/Chart' */
int16_T y3; /* '<Root>/Chart' */
int16_T y4; /* '<Root>/Chart' */
int16_T z3; /* '<Root>/Chart' */
int16_T z4; /* '<Root>/Chart' */

...

/* Model step function */

void doc_sf_colon_equal_step(void)
{
/* Case "=" - general */
y1 = x1 + x2;
y2 = x1 - x2;
y3 = x1 * x2 >> 3;
y4 = div_s16_floor(x1, x2) << 3U;

/* Case ":=" - better computation of the expression */

z1 = (int32_T)x1 + (int32_T)x2;
z2 = (int32_T)x1 - (int32_T)x2;
z3 = (int16_T)((int32_T)x1 * (int32_T)x2 >> 3);
z4 = (int16_T)(((int32_T)x1 << 3) / (int32_T)x2);
}

The inputs x1 and x2 are signed 16-bit integers with 3 fraction bits. For addition and
subtraction, the outputs are signed 32-bit integers with 3 fraction bits.

Assume that the integer word size for production targets is 16 bits. To learn how to
change the integer word size for a target, see Set the Integer Word Size for a Target on
page 20-26.

Because the target int size is 16 bits, you can avoid overflow by using the := operator
instead of the = operator. For example, assume that the inputs have these values:

x1 = 215 1
x2 = 1

20-33
20 Fixed-Point Data in Stateflow Charts

Operator Addition Operation Result Overflow

= Adds the inputs in y1 = 2 15 Yes
16 bits before casting
the sum to 32 bits
:= Casts the inputs z1 = +215 No
to 32 bits before
computing the sum

Similarly, you can avoid overflow for subtraction if you use the := operator instead of the
= operator.

Avoid Overflow Using the := Operator for Multiplication

The following example contrasts the := and = assignment operators for multiplication.
You can use the := operator to avoid overflow in the multiplication c = a * b, where a
and b are two fixed-point operands. The operands and result for this operation are 16-bit
unsigned integers with these assignments:

Fixed-Point Number a Fixed-Point Number b Fixed-Point Number c

4 4
Sa = 2 Sb = 2 Sc = 25
Ba = 0 Bb = 0 Bc = 0
Va = 20.1875 Vb = 15.3125 Vc = ?
Qa = 323 Qb = 245 Qc = ?

where S is the slope, B is the bias, V is the real-world value, and Q is the quantized
integer.
c = a*b

In this case, first calculate an intermediate result for a*b in the fixed-point type given by
the rules in the section Fixed-Point Operations on page 20-3. Then cast that result to
the type for c.

The calculation of intermediate value occurs as follows:

Qiv = QaQb = 323 245 = 79135

20-34
 Operations with Fixed-Point Data

Because the maximum value of a 16-bit unsigned integer is 216 1 = 65535, the preceding
result overflows its word size. An operation that overflows its type produces an undefined
result.

You can capture overflow errors like the preceding example during simulation. See
Detect Overflow for Fixed-Point Types on page 20-10.
c := a*b

In this case, calculate a*b directly in the type of c. Use the solution for Qc given in
Fixed-Point Operations on page 20-3 with the requirement of zero bias, which occurs as
follows:

Qc = (( Sa Sb / Sc ) Qa Qb ) = (2-4 2 -4 / 2 -5 )(323 245) = 79135 / 8 = 9892

No overflow occurs in this case, and the approximate real-world value is as follows:

~
V c = ScQc = 2-5 9892 = 9892 / 32 = 309.125

This value is very close to the actual result of 309.121.

Improve Precision Using the := Operator for Division

The following example contrasts the := and = assignment operators for division. You
can use the := operator to obtain a more precise result for the division of two fixed-point
operands, a and b, in the statement c := a/b.

This example uses the following fixed-point numbers, where S is the slope, B is the bias,
V is the real-world value, and Q is the quantized integer:

Fixed-Point Number a Fixed-Point Number b Fixed-Point Number c

Sa = 24 Sb = 23 Sc = 26
Ba = 0 Bb = 0 Bc = 0
Va = 2 Vb = 3 Vc = ?
Qa = 32 Qb = 24 Qc = ?

20-35
20 Fixed-Point Data in Stateflow Charts

c = a/b

In this case, first calculate an intermediate result for a/b in the fixed-point type given by
the rules in the section Fixed-Point Operations on page 20-3. Then cast that result to
the type for c.

The calculation of intermediate value occurs as follows:

Qiv = Qa / Qb = 32 / 24 = 1

The intermediate value is then cast to the result type for c as follows:
ScQc = SivQiv
Qc = (Siv / Sc) Qiv

The calculation for slope of the intermediate value for a division operation occurs as
follows:

Siv = Sa / Sb = 2 -4 / 2 -3 = 2-1

Substitution of this value into the preceding result yields the final result.

Qc = 2-1 / 2 -6 = 25 = 32

~
In this case, the approximate real-world value is V c = 32 / 64 = 0 .5 , which is not a very
good approximation of the actual result of 2/3.
c := a/b

In this case, calculate a/b directly in the type of c. Use the solution for Qc given in
Fixed-Point Operations on page 20-3 with the simplification of zero bias, which is as
follows:

Qc = ( Sa Qa ) / ( Sc ( SbQb )) = ( Sa / ( Sb Sc )) ( Qa / Qb ) = (2 -4 / (2 -3 2 -6 )) ( 32 / 24 ) = 42

In this case, the approximate real-world value is as follows:

~
V c = 42 / 64 = 0 .6563

20-36
 Operations with Fixed-Point Data

This value is a much better approximation to the precise result of 2/3.

:= Assignment and Context-Sensitive Constants

In a := assignment operation, the type of the left-hand side (LHS) determines part of the
context used for inferring the type of a right-hand side (RHS) context-sensitive constant.

These rules apply to RHS context-sensitive constants in assignments with the := operator:

If the LHS is a floating-point data (type double or single) , the RHS context-sensitive
constant becomes a floating-point constant.
For addition and subtraction, the type of the LHS determines the type of the context-
sensitive constant on the RHS.
For multiplication and division, the type of the context-sensitive constant is chosen
independently of the LHS.

Fixed-Point Conversion Operations

Real numbers are converted into fixed-point data during data initialization and as part
of casting operations in the application. These conversions compute a quantized integer,
Q, from a real number input. Offline conversions initialize data, and online conversions
perform casting operations in the running application. The topics that follow describe
each conversion type and give examples of the results.

Offline Conversions for Initialized Data

Offline conversions are performed during code generation and are designed to maximize
accuracy. These conversions round the resulting quantized integer to its nearest integer
value. If the conversion overflows, the result saturates the value for Q.

Offline conversions are performed for these operations:

Initialization of data (both variables and constants) in the Stateflow hierarchy

Initialization of constants or variables from the MATLAB workspace

Online Conversions for Casting Operations

Online conversions are performed for casting operations that take place during execution
of the application. Designed to maximize computational efficiency, they are faster and
more efficient than offline conversions, but less precise. Instead of rounding Q to its
nearest integer, online conversions round to the floor (with the exception of division,

20-37
20 Fixed-Point Data in Stateflow Charts

which can round to 0, depending on the C compiler you have). If the conversion overflows
the type to which you convert, the result is undefined.

Offline and Online Conversion Examples

The following examples show the difference in the results of offline and online
conversions of real numbers to a fixed-point type defined by a 16-bit word size, a slope (S)
equal to 24, and a bias (B) equal to 0:

Offline Conversion Online Conversion

V V/S Q ~ Q ~
V V
3.45 55.2 55 3.4375 55 3.4375
1.0375 16.6 17 1.0625 16 1
2.06 32.96 33 2.0625 32 2

In the preceding example,

V is the real-world value represented as a fixed-point value.

V/S is the floating-point computation for the quantized integer Q.
Q is the rounded value of V/S.
~
V is the approximate real-world value resulting from Q for each conversion.

Automatic Scaling of Stateflow Fixed-Point Data

Automatic scaling tools can change the settings of Stateflow fixed-point data. You can
prevent automatic scaling by selecting the Lock data type setting against changes
by the fixed-point tools check box in the Data properties dialog box for fixed-point
data (see Set Data Properties on page 8-6 for details). Selecting this check box prevents
replacement of the current fixed-point type with a type that the Fixed-Point Tool
(Fixed-Point Designer) or Fixed-Point Advisor (Fixed-Point Designer) chooses. For
methods on autoscaling fixed-point data, see Choosing a Range Collection Method
(Fixed-Point Designer).

20-38
 21

Complex Data in C Charts

How Complex Data Works in C Charts on page 21-2

Define Complex Data Using the Editor on page 21-4
Complex Data Operations for Charts That Support C Expressions on page 21-7
Define Complex Data Using Operators on page 21-9
Rules for Using Complex Data in C Charts on page 21-12
Best Practices for Using Complex Data in C Charts on page 21-15
Detect Valid Transmission Data Using Frame Synchronization on page 21-19
Measure Frequency Response Using a Spectrum Analyzer on page 21-23
21 Complex Data in C Charts

How Complex Data Works in C Charts

In this section...
What Is Complex Data? on page 21-2
When to Use Complex Data on page 21-2
Where You Can Use Complex Data on page 21-2
How You Can Use Complex Data on page 21-3

What Is Complex Data?

Complex data is data whose value is a complex number. For example, an input signal
with the value 3 + 5i is complex. See Complex Signals (Simulink).

When to Use Complex Data

Use complex data when you model applications in communication systems and digital
signal processing. For example, you can use this design pattern to model a frame
synchronization algorithm in a communication system:

1 Use Simulink blocks (such as filters) to process complex signals.

2 Use charts to implement mode logic for frame synchronization.
3 Let the charts access complex input and output data so that nested MATLAB
functions can drive the mode logic.

For an example of modeling a frame synchronization algorithm, see Detect Valid

Transmission Data Using Frame Synchronization on page 21-19.

Note: Continuous-time variables of complex type are not supported. For more
information, see Define Continuous-Time Variables on page 19-9.

Where You Can Use Complex Data

You can define complex data at these levels of the Stateflow hierarchy:

Charts

21-2
 How Complex Data Works in C Charts

Subcharts
States
Functions

How You Can Use Complex Data

You can use complex data to define:

Complex vectors
Complex matrices

You can also use complex data as arguments for:

State actions
Transition actions
MATLAB functions (see MATLAB Functions in a Chart on page 26-2)
Truth table functions (see What Is a Truth Table? on page 25-2)
Graphical functions (see Reuse Logic Patterns Using Graphical Functions on page
7-32)
Change detection operators (see Detect Changes in Data Values on page 11-74)

Note: Exported functions do not support complex data as arguments.

For more information, see Complex Data Operations for Charts That Support C
Expressions on page 21-7 and Rules for Using Complex Data in C Charts on page
21-12.

21-3
21 Complex Data in C Charts

Define Complex Data Using the Editor

Define complex data in a chart as follows:

1 In the Stateflow Editor, select one of the following options:

Chart > Add Inputs & Outputs > Data Input From Simulink
Chart > Add Inputs & Outputs > Data Output To Simulink
Chart > Add Other Elements > Local Data

A default definition of the new data object appears in the Stateflow hierarchy, and
the Data properties dialog box appears.

21-4
 Define Complex Data Using the Editor

Note: Complex data does not support the scope Constant.

2 In the Complexity field of the Data properties dialog box, select On.

21-5
21 Complex Data in C Charts

3 Specify the name, size, base type, and other properties for the new data object as
described in Set Data Properties on page 8-6.

Note: Complex data does not support the base types ml, struct, and boolean. See
Built-In Data Types on page 8-39 for more information.
4 Click OK.

21-6
 Complex Data Operations for Charts That Support C Expressions

Complex Data Operations for Charts That Support C Expressions

In this section...
Binary Operations on page 21-7
Unary Operations and Actions on page 21-7
Assignment Operations on page 21-8

Binary Operations
These binary operations work with complex operands in the following order of precedence
(1 = highest, 3 = lowest). For operations with equal precedence, they evaluate in order
from left to right.

Example Precedence Description

a * b 1 Multiplication
a + b 2 Addition
a - b 2 Subtraction
a == b 3 Comparison, equality
a != b 3 Comparison, inequality

C charts do not support division of complex operands because this operation requires a
numerically stable implementation, especially when the base type of the complex data is
fixed-point.

To perform complex division, use a MATLAB function, which provides a numerically

accurate and stable result. For details, see Perform Complex Division with a MATLAB
Function on page 21-16.

Unary Operations and Actions

These unary operations and actions work with complex operands.

Example Description
~a Unary minus
!a Logical NOT

21-7
21 Complex Data in C Charts

Example Description
a++ Increment
a-- Decrement

Assignment Operations
These assignment operations work with complex operands.

Example Description
a = expression Simple assignment
a += expression Equivalent to a = a + expression
a -= expression Equivalent to a = a - expression
a *= expression Equivalent to a = a * expression

21-8
 Define Complex Data Using Operators

Define Complex Data Using Operators

In this section...
Why Use Operators for Complex Numbers? on page 21-9
Define a Complex Number on page 21-9
Access Real and Imaginary Parts of a Complex Number on page 21-9
Work with Vector Arguments on page 21-11

Why Use Operators for Complex Numbers?

Use operators to handle complex numbers because a C chart does not support complex
number notation (a + bi), where a and b are real numbers.

Define a Complex Number

To define a complex number based on two real values, use the complex operator
described below.

complex Operator
Syntax
complex(realExp, imagExp)

where realExp and imagExp are arguments that define the real and imaginary parts of
a complex number, respectively. The two arguments must be real values or expressions
that evaluate to real values, where the numeric types of both arguments are identical.
Description

The complex operator returns a complex number based on the input arguments.
Example
complex(3.24*pi, -9.99)

This expression returns the complex number 10.1788 9.9900i.

Access Real and Imaginary Parts of a Complex Number

To access the real and imaginary parts of a complex number, use the operators real and
imag described below.

21-9
21 Complex Data in C Charts

real Operator
Syntax

real(compExp)

where compExp is an expression that evaluates to a complex number.

Description

The real operator returns the value of the real part of a complex number.

Note: If the input argument is a purely imaginary number, the real operator returns a
value of 0.

Example

real(frame(200))

If the expression frame(200) evaluates to the complex number 8.23 + 4.56i, the
real operator returns a value of 8.2300.

imag Operator
Syntax

imag(compExp)

where compExp is an expression that evaluates to a complex number.

Description

The imag operator returns the value of the imaginary part of a complex number.

Note: If the input argument is a real number, the imag operator returns a value of 0.

Example

imag(frame(200))

If the expression frame(200) evaluates to the complex number 8.23 + 4.56i, the
imag operator returns a value of 4.5600.

21-10
 Define Complex Data Using Operators

Work with Vector Arguments

The operators complex, real, and imag also work with vector arguments.

Example If the input x is... Then the output y is...

y = real(x) An n-dimensional vector of An n-dimensional vector of
complex values real values
y = imag(x) An n-dimensional vector of An n-dimensional vector of
real values zeros
y = complex(real(x), An n-dimensional vector of An n-dimensional vector
imag(x)) complex or real values identical to the input
argument

21-11
21 Complex Data in C Charts

Rules for Using Complex Data in C Charts

These rules apply when you use complex data in C charts.

Do not use complex number notation in actions

C charts do not support complex number notation (a + bi), where a and b are real
numbers. Therefore, you cannot use complex number notation in state actions, transition
conditions and actions, or any statements in C charts.

To define a complex number, use the complex operator described in Define Complex
Data Using Operators on page 21-9.

Do not perform math function operations on complex data in C charts

Math operations such as sin, cos, min, max, and abs do not work with complex data in
C charts. However, you can use MATLAB functions for these operations.

For more information, see Perform Math Function Operations with a MATLAB
Function on page 21-15.

Mix complex and real operands only for addition, subtraction, and multiplication

If you mix operands for any other math operations in C charts, an error appears when
you try to simulate your model.

To mix complex and real operands for division, you can use a MATLAB function as
described in Perform Complex Division with a MATLAB Function on page 21-16.

Tip: Another way to mix operands for division is to use the complex, real, and imag
operators in C charts.

Suppose that you want to calculate y = x1/x2, where x1 is complex and x2 is real. You
can rewrite this calculation as:

y = complex(real(x1)/x2, imag(x1)/x2)

For more information, see Define Complex Data Using Operators on page 21-9.

21-12
 Rules for Using Complex Data in C Charts

Do not define complex data with constant scope

If you define complex data with Constant scope, an error appears when you try to
simulate your model.

Do not define complex data with ml, struct, or boolean base type

If you define complex data with ml, struct, or boolean base type, an error appears
when you try to simulate your model.

Use only real values to set initial values of complex data

When you define the initial value for data that is complex, use only a real value. See Set
Properties in the Description Pane on page 8-20 for instructions on setting an initial
value in the Data properties dialog box.

Do not enter minimum or maximum values for complex data

In the Data properties dialog box, do not enter any values in the Minimum or
Maximum field when you define complex data. If you enter a value in either field, an
error message appears when you try to simulate your model.

Assign complex values only to data of complex type

If you assign complex values to real data types, an error appears when you try to
simulate your model.

Note: You can assign both real and complex values to complex data types.

Do not pass real values to function inputs of complex type

This restriction applies to the following types of chart functions:

Graphical functions
Truth table functions
MATLAB functions
Simulink functions

If your C chart passes real values to function inputs of complex type, an error appears
when you try to simulate your model.

21-13
21 Complex Data in C Charts

Do not use complex data with temporal logic operators

You cannot use complex data as an argument for temporal logic operators, because you
cannot define time as a complex number.

21-14
 Best Practices for Using Complex Data in C Charts

Best Practices for Using Complex Data in C Charts

In this section...
Perform Math Function Operations with a MATLAB Function on page 21-15
Perform Complex Division with a MATLAB Function on page 21-16

Perform Math Function Operations with a MATLAB Function

Math functions such as sin, cos, min, max, and abs do not work with complex data in C
charts. However, you can use a MATLAB function in your chart to perform math function
operations on complex data.

A Simple Example

In the following chart, a MATLAB function calculates the absolute value of a complex
number:

The value of comp_num is 1+2i. Calculating the absolute value gives an answer of
2.2361.

How to Calculate Absolute Value

Suppose that you want to find the absolute value of a complex number. Follow these
steps:

21-15
21 Complex Data in C Charts

1 Add a MATLAB function to your chart with this signature:

y = myabs(u)
2 Double-click the function box to open the editor.
3 In the editor, enter the code below:

function y = myabs(u)
%#codegen
y = abs(u);

The function myabs takes a complex input u and returns the absolute value as an
output y.
4 Configure the input argument u to accept complex values.

a Open the Model Explorer.

b In the Model Hierarchy pane of the Model Explorer, navigate to the MATLAB
function myabs.
c In the Contents pane of the Model Explorer, right-click the input argument u
and select Properties from the context menu.
d In the Data properties dialog box, select On in the Complexity field and click
OK.

You cannot pass real values to function inputs of complex type. For details, see Rules for
Using Complex Data in C Charts on page 21-12.

Perform Complex Division with a MATLAB Function

Division with complex operands is not available as a binary or assignment operation in
C charts. However, you can use a MATLAB function in your chart to perform division on
complex data.

A Simple Example

In the following chart, a MATLAB function performs division on two complex operands:

21-16
 Best Practices for Using Complex Data in C Charts

The values of comp_num and comp_den are 1+2i and 3+4i, respectively. Dividing these
values gives an answer of 0.44+0.08i.

How to Perform Complex Division

To divide two complex numbers:

1 Add a MATLAB function to your chart with this function signature:

y = mydiv(u1, u2)
2 Double-click the function box to open the editor.
3 In the editor, enter the code below:
function y = mydiv(u1, u2)
%#codegen
y = u1 / u2;

The function mydiv takes two complex inputs, u1 and u2, and returns the complex
quotient of the two numbers as an output y.
4 Configure the input and output arguments to accept complex values.

a Open the Model Explorer.

b In the Model Hierarchy pane of the Model Explorer, navigate to the MATLAB
function mydiv.
c For each input and output argument, follow these steps:

i In the Contents pane of the Model Explorer, right-click the argument and
select Properties from the context menu.

21-17
21 Complex Data in C Charts

ii In the Data properties dialog box, select On in the Complexity field and
click OK.

You cannot pass real values to function inputs of complex type. For details, see Rules for
Using Complex Data in C Charts on page 21-12.

21-18
 Detect Valid Transmission Data Using Frame Synchronization

Detect Valid Transmission Data Using Frame Synchronization

This model shows how to process complex data in transmission signals of a
communication system.

What Is Frame Synchronization?

In communication systems, frame synchronization is a method of finding valid data in a

transmission that consists of data frames. To aid frame synchronization, the transmitter
inserts a fixed data pattern at the start of each data frame to mark the start of valid
data. The receiver searches for the fixed pattern in each data frame and achieves frame
synchronization when the correlation between the input data and the fixed pattern is
high.

Model Structure

The model contains the following components.

The C chart contains the following states, transitions, and MATLAB functions.

21-19
21 Complex Data in C Charts

Key characteristics of the C chart include:

Complex input and output signals

21-20
 Detect Valid Transmission Data Using Frame Synchronization

The chart accepts a complex input signal I/Q. After synchronizing the data frame, the
chart stores the valid data in a complex output signal frame.
Complex multiplication

The output signal frame is a vector of complex products between each valid data
point and the phase angle of the carrier wave.
Indexing into a complex vector

The chart uses the temporalCount operator to index into the complex vector frame.
MATLAB functions with complex arguments

The MATLAB functions correlate and get_carrier_phase have complex input

and output arguments.

Simulation Results

The sf_frame_sync_controller model does not produce simulation results. The

purpose of this example is to explain how to process complex data in a chart.

How the C Chart Works

The chart calculates the correlation between the input signal I/Q and the fixed data
pattern trainSig. You define trainSig by writing and running a MATLAB script
before you simulate the model.

If the correlation exceeds 50 percent, frame synchronization occurs. The chart stores
220 valid data points in the complex vector frame.
If the correlation stays below 50 percent after the chart has evaluated 300 data
points, the frame synchronization algorithm resets.

Stage Summary Details

1 Activation of the frame When the chart wakes up, the state
synchronization algorithm look_for_sync activates to start the frame
synchronization algorithm.
2 Calculation of correlation between The MATLAB function correlate finds the
the input signal and the fixed correlation between the input signal I/Q and the
pattern fixed data pattern trainSig. Then, the function
stores the complex correlation as corr.

21-21
21 Complex Data in C Charts

Stage Summary Details

3 Calculation of absolute value of the The MATLAB function correlate also finds the
complex correlation absolute value of corr and stores the output as
corrAbs. The value of corrAbs is the correlation
percentage, which can range from 0 to 100 percent.
At 0 percent, there is no correlation; at 100 percent,
there is perfect correlation.
4 Identification of valid data in a If corrAbs exceeds 50 percent, the correlation is
frame high and the chart has identified the start of valid
data in a data frame. The transition from the state
look_for_sync to get_payload occurs.

If corrAbs stays below 50 percent after the

chart has evaluated 300 data points, the frame
synchronization algorithm restarts.
5 Storage of valid data in a complex When the correlation is high, the state
vector get_payload activates.

The MATLAB function get_carrier_phase finds

the phase angle of the carrier wave and stores the
value as phasor. Then, the state multiplies the
input signal I/Q with the phase angle phasor and
stores each complex product in successive elements
of the vector frame.
6 Output of valid frame data After collecting 220 data points, the chart outputs
the vector frame to the next block in the model.
7 Restart of the frame The state look_for_sync reactivates, and the
synchronization algorithm frame synchronization algorithm restarts for the
next data frame.

21-22
 Measure Frequency Response Using a Spectrum Analyzer

Measure Frequency Response Using a Spectrum Analyzer

This model shows measurement of the frequency response of a second-order system
driven by a complex sinusoidal signal. A scope displays the measured frequency response
as discrete Bode plots.

What Is a Spectrum Analyzer?

A spectrum analyzer is a tool that measures the frequency response (magnitude and
phase angle) of a physical system over a range of frequencies.

Model Structure

The model sf_spectrum_analyzer contains the following components.

Model Component Description

Sinusoid Generator Generates a complex sinusoidal signal of increasing frequency
block and supplies this signal to other blocks.
Complex to Imaginary Extracts the imaginary part of the complex signal from the
block Sinusoid Generator block so that a sine wave of increasing
frequency can drive the Plant block.
Plant block Uses a transfer function to describe a second-order system
with a natural frequency of 150 Hz (300 radians per second)

21-23
21 Complex Data in C Charts

Model Component Description

and a damping ratio of 0.3. Since the ratio is less than 1, this
system is underdamped and contains two complex conjugate
poles in the denominator of the transfer function.

Note: Typical applications implement the Plant block using a

D/A (digital-to-analog) converter on the input signal and an A/
D (analog-to-digital) converter on the output signal.
Analyzer chart Calculates the frequency response of the second-order system
defined by the Plant block.
Unwrap chart Processes the phase angle output of the Analyzer chart.

Simulation Results

Simulation of the sf_spectrum_analyzer model produces discrete Bode plots in the

Measured Frequency Response scope.

21-24
 Measure Frequency Response Using a Spectrum Analyzer

To adjust the scope display, right-click inside the grid and select Autoscale from the
context menu.

In the magnitude plot, the sharp peak is the response of the Plant block to a resonant
frequency.
In the phase plot, the angle changes from 0 to radians (180 degrees). Each
complex pole in the Plant block adds /2 radians to the phase angle.

21-25
21 Complex Data in C Charts

How the Sinusoid Generator Block Works

This block is a masked chart that uses MATLAB as the action language. To access the
chart, right-click the Sinusoid Generator block and select Mask > Look Under Mask.

Key characteristics of the signal generator chart include:

Absolute-time temporal logic for controlling changes in frequency

MATLAB code in the chart that generates a complex signal
Transition condition that contains complex operands

Stage Summary Details

1 Signal frequency specification When the chart awakens, the default transition sets
the signal frequency f to fstart and activates state
A.

21-26
 Measure Frequency Response Using a Spectrum Analyzer

Stage Summary Details

Note: To set fstart, double-click the Sinusoid
Generator block and enter a value (in Hz) in the
Initial frequency field.
2 Complex signal generation While state A is active, the chart generates
the complex signal y based on frequency f and
simulation time t.
3 Frequency and complex signal If delay seconds have elapsed since activation of
updates state A, the frequency f increases by an amount
fstep and state A generates a new signal.

Updates occur until the frequency f reaches the

value fstop.

Note: To set delay, double-click the Sinusoid

Generator block and enter a value (in seconds) in the
Delay at each frequency field. To set fstep, enter
a value (in Hz) in the Step frequency field.
4 Complex signal termination When the frequency f reaches the value fstop, the
state Stopped becomes active. The complex signal
terminates and the simulation ends.

Note: To set fstop, double-click the Sinusoid

Generator block and enter a value (in Hz) in the
Stop frequency field.

How the Analyzer Chart Works

Key characteristics of the Analyzer chart include:

Change detection of input frequency

MATLAB code inside that chart that processes complex data
State during action that contains complex operands

21-27
21 Complex Data in C Charts

Stage Summary Details

1 State A activation When the chart wakes up, the values of y and yn
initialize to zero.

The data y stores the second-order system

response to a signal from the Sinusoid Generator
block.
The data yn stores an input signal of a given
frequency.
2 Change detection of input The hasChanged operator detects if the input
frequency frequency f has changed since the previous time
step. If so, MATLAB code calculates the magnitude
and phase angle for the new frequency.

How the Unwrap Chart Works

This chart unwraps the phase angle output of the Analyzer chart. Unwrapping means
preventing the phase angle from jumping more than radians or dropping more than
radians.

21-28
 Measure Frequency Response Using a Spectrum Analyzer

If the phase angle jumps more than radians, the chart subtracts 2 radians from
the angle.
If the phase angle drops more than radians, the chart adds 2 radians to the
angle.

21-29
 22

Define Interfaces to Simulink Models

and the MATLAB Workspace

Overview of Stateflow Block Interfaces on page 22-2

Specify Chart Properties on page 22-3
Set Stateflow Block Update Method on page 22-12
Implement Interfaces to Simulink Models on page 22-14
When to Use Chart Libraries on page 22-18
Create Specialized Chart Libraries for Large-Scale Modeling on page 22-19
Properties You Can Specialize Across Instances of Library Blocks on page 22-20
Limitations of Library Charts on page 22-21
MATLAB Workspace Interfaces on page 22-22
About Masks on page 22-23
Mask Parameters on page 22-24
Look Under a Mask on page 22-26
Mask a Stateflow Block on page 22-27
About Active State Data on page 22-30
When to Use Active State Output Data on page 22-34
Set Active State Data as Local on page 22-35
Limitations for Active State Data on page 22-36
Use Active State Output Data on page 22-37
Change the Active State Port Name on page 22-40
Define State Activity Enum Name and Type on page 22-41
Units in Stateflow on page 22-43
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Overview of Stateflow Block Interfaces

Stateflow Block Interfaces

Each Stateflow block interfaces to its Simulink model. Each Stateflow block can interface
to sources external to the Simulink model (data, events, custom code). Events and data
are the Stateflow objects that define the interface from the point of view of the Stateflow
block.

Events can be local to the Stateflow block or can be propagated to and from the Simulink
model and sources external to it. Data can be local to the Stateflow block or can be shared
with and passed to the Simulink model and to sources external to the Simulink model.
Messages can be local to the Stateflow block or can be passed through the Simulink to
other Stateflow blocks.

The Stateflow interfaces include:

Physical connections between Simulink blocks and the Stateflow block

Event and data information exchanged between the Stateflow block and external
sources
Messages exchanged between Stateflow blocks.
The properties of Stateflow charts
Graphical functions exported from a chart

See Export Stateflow Functions for Reuse on page 7-34 for more details.
The MATLAB workspace

See Access Built-In MATLAB Functions and Workspace Data on page 11-38 for
more details.
Definitions in external code sources

22-2
 Specify Chart Properties

Specify Chart Properties

In this section...
About Chart Properties on page 22-3
Set Properties for a Single Chart on page 22-3
Set Properties for All Charts in the Model on page 22-10

About Chart Properties

Chart properties allow you to specify how your chart interfaces with the Simulink model.
You can specify properties for a single chart or all charts in a model.

Set Properties for a Single Chart

To specify properties for a single chart, edit the properties in the Property Inspector or
right-click in the chart and select Properties.

Field Description
Name Stateflow chart name (read-only).
Machine Simulink subsystem name (read-only).

Available only in the Chart properties dialog box. Not

available in the Symbols window.
Action Language Action language for programming the chart. Choices are C
or MATLAB. For more information, see Modify the Action
Language for a Chart on page 12-2.

In Advanced section of the Property Inspector.

State Machine Type Type of state machine to create. Choices are:

Classic: Default state machine. Provides full set of

semantics for MATLAB charts and C charts.
Mealy: State machine in which output is a function of
inputs and state.
Moore: State machine in which output is a function
only of state.

22-3
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Field Description
Mealy and Moore charts use a subset of Stateflow chart
semantics.

In Advanced section of the Property Inspector.

Update method Method by which a simulation updates (wakes up) a chart
in a Simulink model (see Set Stateflow Block Update
Method on page 22-12). You can select Inherited,
Discrete, or Continuous. For more information about
continuous updating, see Model Hybrid Systems with
Model Logic on page 19-5.
Sample Time If Update method is Discrete, enter a sample time.
Enable zero-crossing If Update method is Continuous, zero-crossing
detection detection is enabled by default. See When to Disable
Zero-Crossing Detection on page 19-4.
Enable C-bit operations For C charts only. To interpret the following operators ( ~,
&, |, and ^) as C bitwise operators, not logical operators,
in action statements (default), select this check box.

If you clear this check box, the following occurs:

& , | and ~ are interpreted as logical operators.

^ is interpreted as the power operator
(for example, 2^3 = 8).

Other bit operations such as >> and << are interpreted as

bit operations regardless of this setting.

In Advanced section of the Property Inspector.

22-4
 Specify Chart Properties

Field Description
User specified state/ To use explicit ordering of parallel states and transitions
transition execution (default), select this check box. In this mode, you have
order complete control of the order in which parallel states are
executed and transitions originating from a source are
tested for execution. For more information, see Execution
Order for Parallel States on page 3-78 and Transition
Testing Order in Multilevel State Hierarchy on page
3-69.

In Advanced section of the Property Inspector.

Export Chart Level To export functions defined at the root level of the chart,
Functions select this check box. This allows Simulink Caller blocks
to call Stateflow functions in the local hierarchy using
qualified notation chartName.functionName. For more
information, see Export Stateflow Functions for Reuse
on page 7-34.

In Advanced section of the Property Inspector.

Treat Exported Functions To allow Stateflow and Simulink Caller blocks
as Globally Visible throughout the model to call the Stateflow functions,
select this check box. Do not use qualified notation to call
these functions.

In Advanced section of the Property Inspector.

22-5
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Field Description
Use Strong Data Typing If selected, the chart accepts input signals of any data
with Simulink I/O type supported by Simulink software, provided that
the type of the input signal matches the type of the
corresponding chart input data item. If the types do not
match, an error occurs.

If cleared, the chart accepts and outputs only signals

of type double. In this case, Stateflow software
converts Simulink input signals to the data types of
the corresponding chart input data items. Similarly,
Stateflow software converts chart output data to type
double.

For fixed-point data, the Use Strong Data Typing with

Simulink I/O option is always on. If an input or output of
fixed-point type in a chart does not match its counterpart
in a model, an error occurs.

See Share Output Data with Simulink on page 8-23.

Execute (enter) Chart At Select this check box if you want a chart's state
Initialization configuration to be initialized at time 0 instead of at the
first occurrence of an input event (see Execution of a
Chart at Initialization on page 3-55).

22-6
 Specify Chart Properties

Field Description
Initialize Outputs Every Interprets the initial value of outputs every time a chart
Time Chart Wakes Up wakes up, not only at time 0. When you set an initial
value for an output data object, the output will be reset to
that value.

Outputs are reset whenever a chart is triggered, whether

by function call, edge trigger, or clock tick.

Enable this option to:

Ensure all outputs are defined in every chart

execution
Prevent latching of outputs (carrying over values of
outputs computed in previous executions)
Give all chart outputs a meaningful initial value

In Advanced section of the Property Inspector.

Enable Super Step Select to enable charts to take multiple transitions in
Semantics each time step until it reaches a stable state. For more
information, see Execution of a Chart with Super Step
Semantics on page 3-47.

In Advanced section of the Property Inspector.

Maximum Iterations in If you enable super step semantics, specify the maximum
Each Super Step number of transitions the chart should take in each time
step. The chart always takes one transition during a
super step, so the value N that you specify represents the
maximum number of additional transitions (for a total
of N+1). For more information, see What Is Maximum
Number of Iterations? on page 3-47 Try to choose a
number that allows the chart to reach a stable state
within the time step, based on the mode logic of your
chart.

In Advanced section of the Property Inspector.

22-7
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Field Description
Behavior after too many If you enable super step semantics, specify how the
iterations chart behaves after reaching the maximum number of
transitions before taking all valid transitions. Options
include:

Proceed Chart execution continues to the next

time step
Throw Error Simulation stops and an error
message appears

In Advanced section of Property Inspector.

Note: The Throw Error option is valid only for

simulation. In generated code, chart execution always
proceeds.
Support variable-size Select to support chart input and output data that vary in
arrays dimension during simulation. For more information, see
Declare Variable-Size Inputs and Outputs on page 17-5.
Saturate on integer Select to specify that integer overflows saturate in the
overflow generated code. For more information, see Handle
Integer Overflow for Chart Data on page 8-49.

In Advanced section of the Property Inspector.

Create output for Select to create output to monitor state activity. Choose:
monitoring:
Child activity
Leaf state activity
Self activity

See About Active State Data on page 22-30.

22-8
 Specify Chart Properties

Field Description
States When Enabling If your chart uses function-call input events, specify
how states behave when the event reenables the chart.
Options include:

Held Maintain most recent values of the states.

Reset Revert to the initial conditions of the states.

For more information, see Control States When

Function-Call Inputs Reenable Charts on page 9-13.
Treat these inherited For MATLAB charts only. Determines whether to treat
Simulink signal types as inherited fixed-point and integer signals as Fixed-Point
fi objects Designer fi objects.

If set to Fixed-point (default), the MATLAB chart

treats all fixed-point inputs as fi objects.
If set to Fixed-point & Integer, the MATLAB chart
treats all fixed-point and integer inputs as fi objects.

In Advanced section of the Property Inspector.

MATLAB Chart fimath For MATLAB charts only. Default fimath properties
for the MATLAB chart. . Otherwise, specify the default
fimath properties by constructing the fimath object
in the MATLAB or model workspace and setting the
property equal to the variable name.

If set to Same as MATLAB Default, the chart uses

the same fimath properties as the current default
fimath
If set to Specify Other, you can specify your own
default fimath object. Either construct the fimath
object inside the edit box, or create it in the MATLAB
or model workspace, and enter its variable name in
the edit box.

In Advanced section of the Property Inspector.

22-9
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Field Description
Description Textual description/comment.

In Info tab of Property Inspector.

Document link Enter a Web URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit/spec/data/
speed.txt.

In Info tab of the Property Inspector.

Set Properties for All Charts in the Model

You can set some properties for all charts in the model by setting properties for the
Stateflow machine, which represents all of the Stateflow blocks in a model.

To set properties for the Stateflow machine:

1 In the Chart properties dialog box for a particular chart, select the Machine link at
the top of the dialog box.

The Machine properties dialog box appears.

2 Enter information in the fields that appear.

Field Description
Simulink Model Name of the Simulink model that defines this
Stateflow machine (read-only). You change the model
name in the Simulink window when you save the
model under a chosen file name.
Creation Date Date on which this machine was created, which is
read-only.
Creator Name of the person who created this Stateflow
machine.
Modified Time of the most recent modification of this Stateflow
machine.
Version Version number of this Stateflow machine.

22-10
 Specify Chart Properties

Field Description
Use C-like bit operations For C charts only. Select this check box for all new C
in new charts charts to interpret the following operators ( ~, &, |,
and ^) as C bitwise operators, not logical operators, in
action statements.

You can enable or disable this option for individual

C charts in the individual chart's property dialog
box. See Set Properties for a Single Chart on page
22-3 for a detailed explanation of this property.
Description Brief description of this Stateflow machine, which is
stored with the model that defines it.
Document link MATLAB expression that, when evaluated, displays
documentation for this Stateflow machine.
3 Click one of these buttons:

Apply saves the changes.

Cancel closes the dialog box without making any changes.
OK saves the changes and closes the dialog box.
Help displays the online help in an HTML browser window.

22-11
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Set Stateflow Block Update Method

Stateflow blocks are Simulink subsystems. Simulink events wake up subsystems for
execution. To specify a wakeup method, in the Chart properties dialog box set Update
method (see Specify Chart Properties on page 22-3). Select one of the following wakeup
methods:

Inherited

This method is the default update method. It causes input from the Simulink model to
determine when the chart wakes up during a simulation.

If you define input events for the chart, the Stateflow block is explicitly triggered
by a signal on its trigger port originating from a connected Simulink block. You can
set this trigger input event in the Model Explorer to occur in response to a Simulink
signal. The Simulink signal can be Rising, Falling, or Either (rising and falling), or
in response to a Function Call.

If you do not define input events, the Stateflow block implicitly inherits triggers from
the Simulink model. These implicit events are the discrete or continuous sample times
of the Simulink signals providing inputs to the chart. If you define data inputs, the
chart awakens at the rate of the fastest data input. If you do not define any data
input for the chart, the chart wakes up as defined by its parent subsystem's execution
behavior.
Discrete

The Simulink model awakens (samples) the Stateflow block at the rate that you
specify as the block's Sample Time property. An implicit event is generated at
regular time intervals corresponding to the specified rate. The sample time is in the
same units as the Simulink simulation time. Other blocks in the Simulink model can
have different sample times.
Continuous

The Stateflow chart updates its state during major time steps only, though it
computes outputs and local continuous variables during major and minor time steps.
The chart can register zero crossings, which allows Simulink models to sample
Stateflow charts whenever state changes occur. The Stateflow chart is also able to
compute derivatives for your local continuous variables.

22-12
 Set Stateflow Block Update Method

More About
Activate a Stateflow Chart Using Input Events on page 9-9
Share Output Data with Simulink on page 8-23
Design Considerations for Continuous-Time Modeling in Stateflow Charts on page
19-22

22-13
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Implement Interfaces to Simulink Models

In this section...
Define a Triggered Stateflow Block on page 22-14
Define a Sampled Stateflow Block on page 22-15
Define an Inherited Stateflow Block on page 22-15
Define a Continuous Stateflow Block on page 22-16
Define Function-Call Output Events on page 22-16
Define Edge-Triggered Output Events on page 22-17

Define a Triggered Stateflow Block

Essential conditions that define an edge-triggered Stateflow block are:

The chart Update method (set in the Chart properties dialog box) is Discrete or
Inherited. (See Specify Chart Properties on page 22-3.)
The chart has an Input from Simulink event defined and an edge-trigger type
specified. (See Activate a Stateflow Chart Using Input Events on page 9-9.)

Triggered Stateflow Block Example

The following model shows an edge-triggered Stateflow block named Callee:

The Input from Simulink event has an Either edge-trigger type. If you define more
than one Input from Simulink event, the Simulink model determines the sample times

22-14
 Implement Interfaces to Simulink Models

to be consistent with various rates of all the incoming signals. The outputs of a triggered
Stateflow block are held after the execution of the block.

Define a Sampled Stateflow Block

There are two ways you can define a sampled Stateflow block.

Set the chart Update method (in the Chart properties dialog box) to Discrete and
enter a Sample Time value. (See Specify Chart Properties on page 22-3.)
Alternatively, add and define input data either in the Stateflow Editor by selecting
Chart > Add Inputs & Outputs > Data Input from Simulink or in the Model
Explorer. (See Share Output Data with Simulink on page 8-23.)

Simulink determines the chart sample time to be consistent with the rate of the incoming
data signal.

The Sample Time you set in the Chart properties dialog box takes precedence over the
sample time of any input data.

Sampled Stateflow Block Example

You specify a discrete sample rate to have Simulink trigger a Stateflow block that does
use an explicit trigger port. You can specify a sample time for the chart in the Chart
properties dialog box. Simulink then calls the Stateflow block at a defined, regular
sample time.

The outputs of a sampled Stateflow block are held after the execution of the block.

Define an Inherited Stateflow Block

Essential conditions that define an inherited trigger Stateflow block are:

22-15
22 Define Interfaces to Simulink Models and the MATLAB Workspace

The chart Update method (set in the Chart properties dialog box) is Discrete or
Inherited. (See Specify Chart Properties on page 22-3)
The chart has an Input from Simulink data object defined using the Stateflow
Editor Add menu or the Model Explorer. (See Share Output Data with Simulink on
page 8-23.) Simulink determines the chart sample time to be consistent with the rate
of the incoming data signal.

Inherited Stateflow Block Example

Simulink can trigger a Stateflow block that does not use an explicit trigger port or a
specified discrete sample time. In this case, the Simulink calls the Stateflow block at a
sample time determined by the model.

In this example, the chart contains two Input from Simulink data objects. Simulink
determines the sample times to be consistent with the rates of both incoming signals.

The outputs of an inherited trigger Stateflow block are held after the execution of the
block.

Define a Continuous Stateflow Block

To define a continuous Stateflow block, set the chart Update method in the Chart
properties dialog box to Continuous.

Define Function-Call Output Events

This topic shows you how to trigger a function-call subsystem in a Simulink model with
a function-call output event in a Stateflow chart. The procedure assumes that you have
a programmed function-call subsystem and a Stateflow block in the model. Use the
following steps to connect the Stateflow block to the function-call subsystem and trigger
it during simulation.

22-16
 Implement Interfaces to Simulink Models

1 In your chart, select Chart > Add Inputs & Outputs > Event Output To
Simulink.

The Event properties dialog box appears with a default name of event and a Scope
of Output to Simulink.
2 Set Trigger to Function Call.
3 Name the event appropriately and click OK to close the dialog box.

An output port with the name of the event you add appears on the right side of the
Stateflow block.
4 Connect the output port on the Stateflow block for the function-call output event to
the input trigger port of the subsystem.

Avoid placing any other blocks in the connection lines between the Stateflow block
and the function-call subsystem.

Note: You cannot connect a function-call output event from a chart to a Demux block
to trigger multiple subsystems.
5 To execute the function-call subsystem, include an event broadcast of the function-
call output event in the actions of the chart.

For examples of using function-call output events, see Activate a Simulink Block Using
Function Calls on page 9-28.

Define Edge-Triggered Output Events

Simulink controls the execution of edge-triggered subsystems with output events.
Essential conditions that define this use of triggered output events are:

The chart has an Output to Simulink event with the trigger type set to Either. See
Activate a Simulink Block Using Output Events on page 9-20.
The Simulink block connected to the edge-triggered Output to Simulink event has
its own trigger type set to the equivalent edge trigger.

For examples of using edge-triggered output events, see Activate a Simulink Block
Using Edge Triggers on page 9-20.

22-17
22 Define Interfaces to Simulink Models and the MATLAB Workspace

When to Use Chart Libraries

In Simulink, you can create your own block libraries as a way to reuse the functionality
of blocks or subsystems in one or more models. Similarly, you can reuse a set of Stateflow
algorithms by encapsulating the functionality in a chart library.

As with other Simulink block libraries, you can specialize each instance of chart library
blocks in your model to use different data types, sample times, and other properties.
Library instances that inherit the same properties can reuse generated code.

For more information about Simulink block libraries, see Libraries (Simulink).

22-18
 Create Specialized Chart Libraries for Large-Scale Modeling

Create Specialized Chart Libraries for Large-Scale Modeling

1 Add Stateflow charts with polymorphic logic to a Simulink model.

Polymorphic logic is logic that can process data with different properties, such as
type, size, and complexity.
2 Configure the charts to inherit the properties you want to specialize.

For a list, see Properties You Can Specialize Across Instances of Library Blocks on
page 22-20.
3 Optionally, customize your charts using masking.
4 Simulate and debug your charts.
5 In Simulink, create a library model by selecting File > New > Library.
6 Copy or drag the charts into a library model.

For an example using MATLAB Function blocks, see Create Custom Block Libraries
(Simulink).

22-19
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Properties You Can Specialize Across Instances of Library Blocks

You can specialize instances of Stateflow library blocks by allowing them to inherit any of
the following properties from Simulink.

Property Inherits by How to Specify Inheritance

Default?
Type Yes Set the data type property to Inherit: Same as
Simulink.
Size Yes Set the data size property to -1.
Complexity Yes Set the data complexity property to Inherited.
Limit range No Specify minimum and maximum values as
Simulink parameters. For example, if minimum
value = aParam and maximum value = aParam
+ 3, different instances of a Stateflow library
block can resolve to different aParam parameters
defined in their parent mask subsystems.
Initial value Depends on For local data, temporary data, and outputs,
scope specify initial values as Simulink parameters.
Other data always inherits the initial value:

Parameters inherit the initial value from the

associated parameter in the parent mask
subsystem.
Inputs inherit the initial value from the
Simulink input signal.
Data store memory inherits the initial value
from the Simulink data store to which it is
bound.
Sampling mode Yes Stateflow chart input ports always inherit
(input) sampling mode.
Data type override Yes Different library instances inherit different data
mode for fixed- type override modes from their ancestors in the
point data model hierarchy.
Sample time Yes Set the block sample time property to -1.
(block)

22-20
 Limitations of Library Charts

Limitations of Library Charts

Events parented by a library Stateflow machine are invalid. The parser flags such events
as errors.

22-21
22 Define Interfaces to Simulink Models and the MATLAB Workspace

MATLAB Workspace Interfaces

In this section...
About the MATLAB Workspace on page 22-22
Examine the MATLAB Workspace on page 22-22
Interface the MATLAB Workspace with Charts on page 22-22

About the MATLAB Workspace

The MATLAB workspace is an area of memory normally accessible from the MATLAB
command line. It maintains a set of variables built up during a MATLAB session.

Examine the MATLAB Workspace

Two commands, who and whos, show the current contents of the workspace. The who
command gives a short list, while whos also gives size and storage information.

To delete all the existing variables from the workspace, enter clear all at the
MATLAB command line. See the MATLAB documentation for more information.

Interface the MATLAB Workspace with Charts

A chart has the following access to the MATLAB workspace:

You can access MATLAB data or MATLAB functions using the ml namespace
operator or the ml function.

See Access Built-In MATLAB Functions and Workspace Data on page 11-38 for
more information.
You can use the MATLAB workspace to initialize chart data at the beginning of a
simulation.

See Enter Expressions and Parameters for Data Properties on page 8-20.
You can save chart data to the workspace at the end of a simulation.

See Save Data to the MATLAB Workspace on page 8-26 for more information.

22-22
 About Masks

About Masks
Creating a mask for Stateflow charts, state transition tables, and truth tables simplifies
using and sharing blocks. The mask encapsulates the block by hiding the underlying
logic and creates a user interface for the block. You can customize the block by:

Changing the appearance with meaningful icons and ports.

Creating a user interface for parameters.
Adding customized documentation.

You decide which parameters can be changed through the mask user interface. You can
provide meaningful descriptions of these parameters.

You cannot mask atomic subcharts, states, or any other objects within a chart. You can
only create masks on Stateflow object blocks you can access from the Simulink library:
charts, state transition tables, and truth tables. Masking a Stateflow block is the same as
masking other Simulink blocks.

More About
Block Masks (Simulink)

22-23
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Mask Parameters
When you create a mask for a Stateflow block, you can define a custom interface for block
parameters.

You provide access to the block parameters by defining corresponding parameters with
the same name in the Mask Editor. A user interface to these parameters is then provided
through a Mask Parameters dialog box.

The mask parameters appear as editable fields in the Mask Parameters dialog box.
Stateflow applies these values to the corresponding block parameters during simulation.

For example, in the sf_car model, double-click the shift_logic Stateflow block to see
the Mask Parameters dialog box.

This dialog box contains a parameter description Delay before gear change(tick)
and a box to edit the value. This value is tied to the parameter TWAIT inside the mask.
When you edit the value in this box, Stateflow assigns the new value to TWAIT during
simulation.

Before simulation begins, Simulink searches the mask workspace to find values for the
parameters. If parameters for the model are not defined in the mask, Simulink continues
searching the workspace hierarchy for the definitions and values.

22-24
 Mask Parameters

You can create other types of user interfaces for the mask parameters, such as check
boxes, context menus, and option buttons.

More About
Mask Editor Overview (Simulink)

22-25
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Look Under a Mask

You can view and edit the contents of a masked block by selecting Diagram > Mask >
Look under Mask. Looking under a mask does not unmask the block.

Stateflow charts provide badges for looking inside a mask. The badge looks like a
downward facing arrow in the lower-left corner of the chart.

This badge does not appear on state transition tables and truth tables.

22-26
 Mask a Stateflow Block

Mask a Stateflow Block

In this section...
Create Mask on page 22-27
Change the Icon on page 22-27
Add a Parameter on page 22-27
View the New Mask on page 22-28
Edit the Mask on page 22-29

You can create masks for Stateflow charts in models. To see a chart already masked, look
at shift_logic in the sf_car model that ships with Stateflow.

Create Mask
To create a mask for the Stateflow chart in the model old_sf_car:

1 Open the model old_sf_car.

2 From the Simulink Editor, select the chart shift_logic.
3 Open the Mask Editor by selecting Diagram-> Mask->Create Mask.

Change the Icon

You can customize the appearance of the block icon by using drawing commands, or
loading an image.

1 On the Icon & Ports pane, in the edit box under Icon Drawing commands type:

image('shift_logic.svg')
2 Click Apply.

The Mask Editor loads the image file shift_logic.svg to use as the masked block
icon. For more information, see Draw Mask Icon (Simulink).

Add a Parameter
The chart shift_logic has a parameter TWAIT that is already defined. To add TWAIT
as a parameter to the mask:

22-27
22 Define Interfaces to Simulink Models and the MATLAB Workspace

1 In the Mask Editor, select the Parameters & Dialog pane.

2 Double-click the Edit parameter icon.

3 Next to edit, under Prompt, type

Delay before gear change(tick).

This text is the prompt for the new mask parameter in the Mask Parameters dialog
box.
4 Under Name, type "TWAIT".

This name defines the parameter in the mask. The name ties it to the underlying
block parameter with the same name, TWAIT.
5 Click Apply.
6 Click OK.

View the New Mask

After creating a mask, the new icon for the shift_logic chart appears in the Simulink
canvas. The name of the block has not changed.

22-28
 Mask a Stateflow Block

If you double-click the icon, the Mask Parameters dialog box opens. This dialog box
has the prompt for the parameter TWAIT. The value in the edit box is assigned to the
parameter TWAIT during simulation.

To see the logic in the shift_logic chart, click the Look inside mask badge on the
chart.

Edit the Mask

You can edit a mask by selecting Diagram > Mask > Edit Mask.

More About
Mask Editor Overview (Simulink)

22-29
22 Define Interfaces to Simulink Models and the MATLAB Workspace

About Active State Data

In this section...
State Activity Type on page 22-30
Active State Data Type on page 22-30
Leaf State Activity and Parallel States on page 22-31

Stateflow can provide active state data through an output port to Simulink or as local
data to your chart. You can enable active state data for a Stateflow chart, state, state
transition table, or atomic subchart.

Enable active state data by selecting the Create output for monitoring check box in
the Properties dialog box of the Stateflow object. The enumerated data is created as scope
output by default. You can change the scope to local in the Model Explorer. For more
information, see Set Active State Data as Local on page 22-35.

State Activity Type

The information in the chart defines the levels of state activity supported for each
Stateflow object.

Stateflow Object Self-activity Child activity Leaf state activity

Charts Not supported Supported Supported
States Supported Supported Supported
Atomic subcharts Supported at the Supported inside the Supported inside the
container level subchart subchart
State transition Not supported Supported Supported
tables

Active State Data Type

When you enable active state data, Stateflow creates a Boolean or enumerated data to
match the activity mode.

Activity Mode Activity Data Type Description

Self activity Boolean Is the state active?

22-30
 About Active State Data

Activity Mode Activity Data Type Description

Child activity Enumeration Which child is active?
Leaf state activity Enumeration Which leaf state is active?

For self-activity of a chart or state, the data value is 1 when active and 0 when
inactive. For child and leaf state activity, the data is an enumerated type. Stateflow
can automatically define the enumeration or you can create the definition. For more
information about the enumeration type, see Define State Activity Enum Name and
Type on page 22-41.

For active state data of scope output, Stateflow creates an output port on the block in
Simulink.

Leaf State Activity and Parallel States

When you enable leaf state activity, a state with parallel (AND) decomposition is treated
as a leaf state. State activity of the parallel substates is not available.

In this example, leaf state activity is enabled for the chart. The leaf states are A1, A2,
and B. State B is treated as a leaf state because it has parallel decomposition. The
substates B1 and B2 are active at the same time.

22-31
22 Define Interfaces to Simulink Models and the MATLAB Workspace

22-32
 About Active State Data

The active state output data connected to a scope shows the enumerated values for the
leaf states A1, A2, and B.

Related Examples
Use Active State Output Data on page 22-37

22-33
22 Define Interfaces to Simulink Models and the MATLAB Workspace

When to Use Active State Output Data

By enabling active state data as an output, the data is made available through an output
data port to Simulink. This data signal can be:

Viewed using a scope.

Logged for diagnostics.
Used to drive another subsystem.

Using active state data output can simplify the design in some Stateflow charts. You do
not have to update data used to track state activity.

Related Examples
Use Active State Output Data on page 22-37

22-34
 Set Active State Data as Local

Set Active State Data as Local

To access active state data inside a Stateflow chart:

1 In the Properties dialog box, select the check box Create output for monitoring.
2 Type the name in the Data Name field.
3 In the Symbols window, select the type of the data.
4 Change the scope to Local.

You can specify information for code generation by binding the local active state data to a
Simulink.Signal object. Modify the properties in CoderInfo.

See Also
Simulink.Signal (Simulink) | Simulink.CoderInfo (Simulink)

More About
About Active State Data on page 22-30
Define State Activity Enum Name and Type on page 22-41
Resolve Data Properties from Simulink Signal Objects on page 8-59

22-35
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Limitations for Active State Data

You cannot enable child or leaf state activity in charts or states with parallel
decomposition. You can use self activity for states with parallel decomposition.

Do not enable child output for states that have no children. Doing so results in an error
at compilation and run time.

Note: Do not set the chart property Initialize Outputs Every Time Chart Wakes Up
on charts that use output. The behavior is unpredictable.

More About
About Active State Data on page 22-30
Use Active State Output Data on page 22-37

22-36
 Use Active State Output Data

Use Active State Output Data

This example shows how active state data is used as an output in the model sf_car.

Here is a version of the gear_state state in the Stateflow chart shift_logic that does
not use active state data.

The output variable gear has an assignment in each state. The assignment tracks which
state, first, second, third, or fourth is active in gear_state.

The following steps show how to enable and use active state output data to simplify the
design:

1 Delete the entry: assignments to the output data variable gear for each state in
gear_state.
2 In the Symbols window, right-click the output variable gear and select Delete.
3 Right-click inside the state gear_state, and view the Property Inspector.
4 Select the check box for Create output for monitoring.
5 Type the name gear next to Data name.
6 Type the name gearType next to Enum name.

Stateflow now automatically creates the output port, gear, on the shift_logic chart.
The output of gear is an enumerated type automatically managed by Stateflow. You can
view the output of gear on a scope. The names of the enumerated type match the names
of the states in gear_state, with the addition of None to indicate no active child.

22-37
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Explicitly assigning the value of gear is no longer necessary, therefore simplifying the
design of gear_state.

To see the model sf_car with output enabled for gear_state, at the MATLAB
command prompt, type sf_car .

22-38
 Use Active State Output Data

More About
About Active State Data on page 22-30
Limitations for Active State Data on page 22-36
Manage Stateflow Data, Events, and Messages in the Symbols Window on page
30-2

22-39
22 Define Interfaces to Simulink Models and the MATLAB Workspace

Change the Active State Port Name

When you enable active state data, Stateflow creates a name for the data. You can
change this name by editing the value next to Data name in the Properties window. For
data of scope output, the output port created matches the name.

More About
Define State Activity Enum Name and Type on page 22-41
Limitations for Active State Data on page 22-36
About Active State Data on page 22-30

22-40
 Define State Activity Enum Name and Type

Define State Activity Enum Name and Type

When you enable data to monitor child or leaf state activity, the data type is an
enumeration. Stateflow automatically creates this enumeration, or you can customize it.

In the enumeration definition, there must be one literal for each state name plus an
extra literal to indicate no active child.

For example, Stateflow automatically creates the enumeration definition for

gear_state in the model sf_car.

enumeration
None(0),
first(1),
second(2),
third(3),
fourth(4)
end

You can customize the name and definition for the enumeration output in the Properties
window. To customize the name, type the new name in the edit box next to Enum name.

Stateflow automatically creates this enumeration, or you can tell Stateflow to use an
existing definition by selecting Define enumerated type manually.

If you select Define enumerated type manually, but no definition exists, then
Stateflow provides a link to automatically create a MATLAB definition. Selecting,
Create enum definition from template, generates an enumeration definition in a
MATLAB file. You can then customize this definition.

In the example, sf_car, the data is named gear, and the enumeration type is
gearType.

22-41
22 Define Interfaces to Simulink Models and the MATLAB Workspace

The base storage type for an automatically created enumeration defaults to Native
Integer. You can choose the storage type in Base storage type for automatically
created enumerations: under the Optimization > Stateflow pane of the
Configuration Parameters dialog box. If you need a smaller memory footprint, use this
option.

More About
About Active State Data on page 22-30
Limitations for Active State Data on page 22-36

22-42
 Units in Stateflow

Units in Stateflow
In this section...
Units for Input and Output Data on page 22-43
Consistency Checking on page 22-43
Units for Stateflow Limitations on page 22-43

Units for Input and Output Data

Stateflow supports the specification of physical units as properties for data inputs and
outputs. Specify units by using the Unit (e.g., m, m/s^2, N*m) parameter for input or
output data on charts, state transition tables, or truth tables. When you start typing
in the field, this parameter provides matching suggestions for units that Simulink
supports. By default, the property is set to inherit the unit from the Simulink signal on
the corresponding input or output port. If you select the Data must resolve to signal
object property for output data, you cannot specify units. In this case, output data is
assigned the same unit type as the Simulink signal connected to the output port.

To display the units on the Simulink lines in the model, select Display > Signals and
Ports > Port Units.

Consistency Checking
Stateflow checks the consistency of the signal line unit from Simulink with the unit
setting for the corresponding input or output data in the Stateflow block. If the units do
not match, Stateflow displays a warning during model update.

Units for Stateflow Limitations

The unit property settings do not affect the execution of the Stateflow block. Stateflow
checks only consistency with the corresponding Simulink signal line connected to the
input or output. It does not check consistency of assignments inside the Stateflow blocks.
For example, Stateflow does not warn against an assignment of an input with unit set to
ft to an output with unit set to m. Stateflow does not perform unit conversions.

More About
Unit Specification in Simulink Models (Simulink)

22-43
 23

Structures and Bus Signals in

Stateflow Charts

About Stateflow Structures on page 23-2

Connect Structures in Charts to External Bus Signals on page 23-3
Rules for Defining Structure Data Types in Charts on page 23-8
Define Stateflow Structures on page 23-9
Structure Operations on page 23-17
Integrate Custom Structures in Stateflow Charts on page 23-22
Debug Structures on page 23-26
23 Structures and Bus Signals in Stateflow Charts

About Stateflow Structures

In this section...
What Is a Stateflow Structure? on page 23-2
What You Can Do with Structures on page 23-2

What Is a Stateflow Structure?

A Stateflow structure is a data type that you define as a Simulink.Bus . The elements
of a Stateflow structure data type are called fields. The fields can be any combination of
individual signals, muxed signals, vectors, and buses. Each field has its own data type,
which need not match that of any other field.

What You Can Do with Structures

With the Stateflow structure data type, you can create:

Inputs and outputs for accessing Simulink bus signals from Stateflow charts, Truth
Table blocks, and MATLAB Function blocks (see Define Structure Inputs and
Outputs on page 23-9)
Local structure data in Stateflow charts, truth tables, graphical functions, MATLAB
functions, and boxes (see Define Local Structures on page 23-12)
Temporary structure data in Stateflow graphical functions, truth tables, and
MATLAB functions (see Define Temporary Structures on page 23-14)

See Also
Simulink.Bus class (Simulink)

23-2
 Connect Structures in Charts to External Bus Signals

Connect Structures in Charts to External Bus Signals

The model sfbus_demo provides examples of structures in a Stateflow chart.

The chart contains a graphical function.

In this model, the Stateflow chart receives a bus input signal using the structure inbus
at input port 1 and outputs a bus signal from the structure outbus at output port 1.

23-3
23 Structures and Bus Signals in Stateflow Charts

The input signal comes from the Simulink Bus Creator block COUNTERBUSCreator,
which bundles signals from two other Bus Creator blocks: SIGNALBUSCreator and
LIMITBUSCreator. The structure outbus connects to a Simulink Bus Selector block
BUSSelector. The Stateflow chart also contains a local structure counterbus_struct
and a graphical function get_input_signal that contains an input structure u and
output structure y.

Structure Definitions in sfbus_demo Stateflow Chart

Definitions of structures in the chart of the sfbus_demo model appear in the Model
Explorer as follows:

Note: The local structure counterbus_struct is defined using the type operator in an
expression, as described in Define Structure Types with Expressions on page 23-15.

Structure Definitions in sfbus_demo Stateflow Graphical Function

Definitions of structures in the graphical function get_input_signal appear in the
Model Explorer as follows:

23-4
 Connect Structures in Charts to External Bus Signals

Simulink Bus Objects Define Stateflow Structures

Each Stateflow structure must be defined by a Simulink.Bus object in the base
workspace. The structure shares the same properties as the bus object, including
number, name, and type of fields. For example, the sfbus_demo model defines the
following bus objects in the base workspace:

23-5
23 Structures and Bus Signals in Stateflow Charts

You can find the bus object that defines a Stateflow structure by looking in the Data
Type and Compiled Type columns in the Contents pane of the Model Explorer. For
example, the structures inbus, outbus, and counterbus_struct are all defined in
sfbus_demo by the same Simulink bus object, COUNTERBUS.

Based on these definitions, inbus, outbus, and counterbus_struct have the same
properties as COUNTERBUS. For example, these Stateflow structures in sfbus_demo
reference their fields by the same names as the elements in COUNTERBUS, as follows:

Structure First Field Second Field

inbus inbus.inputsignal inbus.limits
outbus outbus.inputsignal outbus.limits
counterbus_struct counterbus_struct.inputsignalcounterbus_struct.limits

To learn how to define structures in Stateflow charts using Simulink.Bus objects, see
Define Stateflow Structures on page 23-9.

If you define a custom structure in C for your Stateflow chart, you must make sure that
the structure's typedef declaration in your header file matches the properties of the

23-6
 Connect Structures in Charts to External Bus Signals

Simulink.Bus object that defines the structure, as described in Integrate Custom

Structures in Stateflow Charts on page 23-22.

23-7
23 Structures and Bus Signals in Stateflow Charts

Rules for Defining Structure Data Types in Charts

Follow these rules when defining structures in Stateflow charts:

You must define each structure as a Simulink.Bus object in the base workspace.
You cannot define structures for Stateflow machines.

Note: The Stateflow machine is the object that contains all other Stateflow objects in
a Simulink model (see Stateflow Hierarchy of Objects on page 1-8).
Structures cannot have a constant scope.
Structures of parameter scope must be tunable.
Data array objects cannot contain structures.

More About
Structure Operations on page 23-17
Define Stateflow Structures on page 23-9

23-8
 Define Stateflow Structures

Define Stateflow Structures

In this section...
Define Structure Inputs and Outputs on page 23-9
Define Local Structures on page 23-12
Define Structures of Parameter Scope on page 23-13
Define Temporary Structures on page 23-14
Define Structure Types with Expressions on page 23-15

Define Structure Inputs and Outputs

Interface Stateflow Structures with Simulink Bus Signals on page 23-9
Virtual and Nonvirtual Buses on page 23-11

Interface Stateflow Structures with Simulink Bus Signals

You can drive Stateflow structure inputs by using any Simulink bus signal that has
matching properties. Similarly, Stateflow charts can output structures to Simulink
blocks that accept bus signals.

To create inputs and outputs in Stateflow charts:

1 Create a Simulink bus object in the base workspace to define the structure type for
your Stateflow chart.

For information about how to create Simulink bus objects, see Create Bus Objects
with the Bus Editor (Simulink) in the Simulink documentation.
2 Open the Model Explorer.
3 In the Model Explorer, add a data object as described in Add Data Through the
Model Explorer on page 8-3.

The Model Explorer adds a data object and opens a Properties dialog box in its right-
hand Dialog pane.
4 In the Name field of the Properties dialog box, enter the name of the structure data.
5 In the Scope field, select either Input or Output.
6 In the Type field, select Inherit: Same as Simulink, Bus: <object name>, or
<data type expression> according to these guidelines:

23-9
23 Structures and Bus Signals in Stateflow Charts

Type Works with Requirements

Scope
Inherit: Input You do not need to specify a value. The data type is inherited from
Same as previously-defined data, based on the scope you selected for the data
Simulink object.

There must be a Simulink bus signal in your model that connects to

the Stateflow structure input.

The Simulink bus signal must be a nonvirtual bus (see Virtual and
Nonvirtual Buses on page 23-11).

You must specify a Simulink.Bus object in the base workspace

with the same properties as the bus signal in your model that
connects to the Stateflow structure input. The following properties
must match:

Number, name, and type of inputs

Dimension
Sample Time
Complexity
Sampling Mode

If your input signal comes from a Bus Creator block, you must
specify an appropriate bus object for Output data type in the
Bus Creator dialog box. When you specify the bus object, Simulink
verifies that the properties of the Simulink.Bus object in the base
workspace match the properties of the Simulink bus signal.

23-10
 Define Stateflow Structures

Type Works with Requirements

Scope
Bus: Input or Replace <object name> in the Type field with the name of
<object Output the Simulink.Bus object in the base workspace that defines the
name> Stateflow structure. For example: Bus: inbus.

Note: You are not required to specify a bus signal in your Simulink
model that connects to the Stateflow structure input or output.
However, if you do specify a bus signal, its properties must match
the Simulink.Bus object that defines the Stateflow structure input
or output.
<date type Input or Replace <data type expression> in the Type field with an
expression> Output expression that evaluates to a data type.

Enter the expression according to these guidelines:

For structure inputs, you can use the Stateflow type operator
to assign the type of your structure based on the type of another
structure defined in the Stateflow chart, as described in Define
Structure Types with Expressions on page 23-15.

Note: You cannot use the type operator for structure outputs
(structures of scope Output).
For structure inputs or outputs, you can enter the name of the
Simulink.Bus object in the base workspace that defines the
Stateflow structure.
7 Click Apply.

Virtual and Nonvirtual Buses

Simulink models support virtual and nonvirtual buses. Virtual buses read their inputs
from noncontiguous memory. Nonvirtual buses read their inputs from data structures
stored in contiguous memory (see Virtual and Nonvirtual Buses (Simulink) in the
Simulink documentation).

Stateflow charts support nonvirtual buses only. For Stateflow structure inputs, incoming
virtual bus signals are converted to nonvirtual buses. Stateflow outputs only nonvirtual
buses.

23-11
23 Structures and Bus Signals in Stateflow Charts

Even though this conversion process allows Stateflow charts to accept virtual and
nonvirtual buses as input, Stateflow structures cannot inherit properties from virtual bus
input signals. If the input to a chart is a virtual bus, you must set the data type mode of
the Stateflow bus input to Bus Object.

Define Local Structures

To define local structures:

1 Create a Simulink bus object in the base workspace to define the structure type for
your Stateflow chart.

For information about how to create Simulink bus objects, see Create Bus Objects
with the Bus Editor (Simulink) in the Simulink documentation.
2 Open the Model Explorer.
3 In the Model Explorer, add a data object as described in Add Data Through the
Model Explorer on page 8-3.

The Model Explorer adds a data object and opens a Properties dialog box in its right-
hand Dialog pane.
4 In the Name field of the Properties dialog box, enter the name of the structure data.
5 In the Scope field, select Local.
6 In the Type field, select either Bus: <object name>, or <data type
expression>, and then specify the expression as follows:

Type What to Specify

Bus: <object Replace <object name> in the Type field with the name of the
name> Simulink.Bus object in the base workspace that defines the Stateflow structure.
For example: Bus: inbus.
<date type Replace <data type expression> in the Type field with an expression that
expression> evaluates to a data type.

You can enter any of the following expressions:

Use the Stateflow type operator to assign the type of your structure based on
the type of another structure defined in the Stateflow chart, as described in
Define Structure Types with Expressions on page 23-15

23-12
 Define Stateflow Structures

Type What to Specify

Enter the name of the Simulink.Bus object in the base workspace that
defines the Stateflow structure.
7 Click Apply.

Define Structures of Parameter Scope

To define structures of parameter scope:

1 Create a Simulink bus object in the base workspace to define the structure type for
your chart.

For information about how to create Simulink bus objects, see Create Bus Objects
with the Bus Editor (Simulink) in the Simulink documentation.
2 Open the Model Explorer.
3 In the Model Explorer, add a data object as described in Add Data Through the
Model Explorer on page 8-3.

The Model Explorer adds a data object and opens a Properties dialog box in its right-
hand Dialog pane.
4 In the Name field of the Properties dialog box, enter the name of the structure data.
5 In the Scope field, select Parameter.
6 In the Type field, select either Bus: <object name>, or <data type
expression>, and then specify the expression as follows:

Type What to Specify

Bus: <object Replace <object name> in the Type field with the name of the
name> Simulink.Bus object in the base workspace that defines the Stateflow structure.
For example: Bus: inbus.
<date type Replace <data type expression> in the Type field with an expression that
expression> evaluates to a data type.

You can enter any of the following expressions:

Use the Stateflow type operator to assign the type of your structure based on
the type of another structure defined in the Stateflow chart, as described in
Define Structure Types with Expressions on page 23-15

23-13
23 Structures and Bus Signals in Stateflow Charts

Type What to Specify

Enter the name of the Simulink.Bus object in the base workspace that
defines the Stateflow structure.
7 Click Apply.

Define Temporary Structures

You can define temporary structures in truth tables, graphical functions, and MATLAB
functions of a Stateflow chart.

To define a temporary structure:

1 Create a Simulink bus object in the base workspace to define the structure type for
your chart.

For information about how to create Simulink bus objects, see Create Bus Objects
with the Bus Editor (Simulink) in the Simulink documentation.
2 Open the Model Explorer.
3 In the Model Explorer, add a data object to your function as described in Add Data
Through the Model Explorer on page 8-3.

The Model Explorer adds a data object and opens a Properties dialog box in its right-
hand Dialog pane.
4 In the Name field of the Properties dialog box, enter the name of the structure data.
5 In the Scope field, select Temporary.
6 In the Type field, select either Bus: <object name>, or <data type
expression>, and then specify the expression as follows:

Type What to Specify

Bus: <object Replace <object name> in the Type field with the name of the
name> Simulink.Bus object in the base workspace that defines the Stateflow structure.
For example: Bus: inbus.
<date type Replace <data type expression> in the Type field with an expression that
expression> evaluates to a data type.

You can enter any of the following expressions:

23-14
 Define Stateflow Structures

Type What to Specify

Use the Stateflow type operator to assign the type of your structure based on
the type of another structure defined in the Stateflow chart, as described in
Define Structure Types with Expressions on page 23-15
Enter the name of the Simulink.Bus object in the base workspace that
defines the Stateflow structure.
7 Click Apply.

Define Structure Types with Expressions

You can define structure types with expressions that call the Stateflow type operator.
This operator assigns the type of your structure based on the type of another structure
defined in the Stateflow chart. For example, the model sfbus_demo contains a local
structure whose type is defined using a type operator expression, as follows:

In this case, the structure counterbus_struct derives its type from structure inbus,
which is defined by the Simulink.Bus object COUNTERBUS. Therefore, the structure
counterbus_struct is also defined by the bus object COUNTERBUS.

To learn how to use the Stateflow type operator, see Derive Data Types from Previously
Defined Data on page 8-40.

23-15
23 Structures and Bus Signals in Stateflow Charts

Related Examples
Connect Structures in Charts to External Bus Signals on page 23-3

More About
Rules for Defining Structure Data Types in Charts on page 23-8

23-16
 Structure Operations

Structure Operations
In this section...
Index Sub-Structures and Fields on page 23-17
Guidelines for Assignment of Values on page 23-19
Get Addresses on page 23-20

Index Sub-Structures and Fields

You index substructures and fields of Stateflow structures by using dot notation. With
dot notation, the first text identifies the parent object, and subsequent text identify
the children along a hierarchical path. When the parent is a structure, its children are
individual fields or fields that contain other structures (also called substructures). By
default, the names of the fields of a Stateflow structure match the names of the elements
of the Simulink.Bus object that defines the structure.

Suppose that you have the following model:

In this example, the SubBus and BusObject blocks to the left of the chart are Bus
Creator blocks. The BusObject block to the right of the chart is a Bus Selector block.

The following structures are defined in the chart:

Name of Structure Scope Defined By Simulink.Bus

Object
in Input BusObject

23-17
23 Structures and Bus Signals in Stateflow Charts

Name of Structure Scope Defined By Simulink.Bus

Object
out Output BusObject
subbus Local SubBus

The Simulink.Bus objects that define these structures have the following elements:

By default, Stateflow structures in and out have the same fields sb, a, b, and c
as the elements of Simulink.Bus object BusObject. Similarly, the Stateflow structure
subbus has the same field ele as the element of Simulink.Bus object SubBus. Based
on these specifications, the following table shows how the Stateflow chart resolves
symbols in dot notation for indexing fields of the structures in this example:

Dot Notation Symbol Resolution

in.c Field c of input structure in
in.a[1] Second value of the vector field a of input structure in
out.sb Substructure sb of output structure out

23-18
 Structure Operations

Dot Notation Symbol Resolution

in.sb.ele[2][3] Value in the third row, fourth column of field ele of
substructure sb of input structure in
subbus.ele[1][1] Value in the second row, second column of field ele of local
structure subbus

Guidelines for Assignment of Values

You can assign values to any Stateflow structure except input structures that is, a
structure with scope equal to Input. Here are the guidelines for assigning values to
output, local, parameter, and temporary structures:

Operation Conditions
Assign one structure to another structure You must define both structures with the
same Simulink.Bus object in the base
workspace.
Assign one structure to a substructure of a You must define the structure with the
different structure and vice versa same Simulink.Bus object in the base
workspace as the substructure.
Assign a field of one structure to a field of The fields must have the same type and
another structure size.

Note: In this case, you do not need to

define the Stateflow structures with the
same Simulink.Bus object in the base
workspace.

For example, the following table presents valid and invalid structure assignments based
on specifications for the sfbus_demo model, as described in Connect Structures in Charts
to External Bus Signals on page 23-3:

Assignment Valid or Rationale

Invalid?
outbus = inbus; Valid Both outbus and inbus are defined
by the same Simulink.Bus object,
COUNTERBUS.

23-19
23 Structures and Bus Signals in Stateflow Charts

Assignment Valid or Rationale

Invalid?
inbus = outbus; Invalid You cannot write to input structures.
inbus.limits = outbus.limits; Invalid You cannot write to fields of input
structures.
counterbus_struct = inbus; Valid Both counterbus_struct and inbus
are defined by the same Simulink.Bus
object, COUNTERBUS.
counterbus_struct.inputsignal = Valid Both
inbus.inputsignal; counterbus_struct.inputsignal
and inbus.inputsignal have the
same type and size because they
each reference field inputsignal, a
substructure of the Simulink.Bus
object COUNTERBUS.
Valid
outbus.limits.upper_saturation_limit The field upper_saturation_limit
= inbus.inputsignal.input; from limits, a substructure of
COUNTERBUS, has the same type
and size as the field input from
inputsignal, a different substructure
of COUNTERBUS.
outbus.limits = Invalid The substructure limits is defined by a
inbus.inputsignal; different Simulink.Bus object than the
substructure inputsignal.

Get Addresses
When you write custom functions that take structure pointers as arguments, you must
pass the structures by address. To get addresses of Stateflow structures and structure
fields, use the & operator, as in the following examples:

&in Address of Stateflow structure in

&in.b Address of field b in Stateflow structure in

The model sfbus_demo contains a custom C function counterbusFcn that takes

structure pointers as arguments, defined as follows in a custom header file:
...

23-20
 Structure Operations

extern void counterbusFcn

(COUNTERBUS *u1, int u2, COUNTERBUS *y1, int *y2);
...

To call this function, you must pass addresses to two structures defined by the
Simulink.Bus object COUNTERBUS, as in this example:

counterbusFcn(&counterbus_struct, u2, &outbus, &y2);

See Connect Structures in Charts to External Bus Signals on page 23-3 for a
description of the structures defined in sfbus_demo.

23-21
23 Structures and Bus Signals in Stateflow Charts

Integrate Custom Structures in Stateflow Charts

You can define custom structures in C code, which you can then integrate with your chart
for simulation and real-time code generation. For C charts, follow these steps:

1 Define your structure in C, creating custom source and header files.

The header file must contain the typedef statements for your structures. For
example, the model sfbus_demo uses custom structures, defined in a custom header
file as follows:

...
typedef struct {
int input;
} SIGNALBUS;

typedef struct {
int upper_saturation_limit;
int lower_saturation_limit;
} LIMITBUS;

typedef struct {
SIGNALBUS inputsignal;
LIMITBUS limits;
} COUNTERBUS;
...
2 Define a Simulink.Bus object in the base workspace that matches each custom
structure typedef.

For example, the model sfbus_demo defines the following Simulink.Bus objects to
match each typedef in the custom header file:

23-22
 Integrate Custom Structures in Stateflow Charts

3 Open the Bus Editor and for each bus object in the base workspace defined in custom
code, add the name of the header file that contains the matching typedef.

For example, the model sfbus_demo specifies the custom header file counterbus.h
for the bus object COUNTERBUS:

23-23
23 Structures and Bus Signals in Stateflow Charts

4 Configure your chart to include custom C code, as follows.

To Include Custom Do This:

C Code:
In code Follow these steps:
generated for
simulation a Open the chart that uses your custom C structures.
b Open the Model Configuration Parameters dialog box.
c In the Model Configuration Parameters dialog box, select
Simulation Target in the Select tree.

Custom code options appear in the right pane.

d Specify your custom code as described in Task 1: Include
Custom C Code in the Simulation Target on page 28-6.
In code Follow these steps:
generated
for real-time a Open the chart that uses your custom C structures.
applications

23-24
 Integrate Custom Structures in Stateflow Charts

To Include Custom Do This:

C Code:
b Open the Model Configuration Parameters dialog box.
c In the Model Configuration Parameters dialog box, select
Code Generation > Custom Code in the Select tree.

Custom code options appear in the right pane.

d Follow instructions in Integrate External Code by Using
Model Configuration Parameters (Simulink Coder) in the
Simulink Coder documentation.
5 Build your model and fix errors (see Debug Structures on page 23-26).
6 Run your model.

23-25
23 Structures and Bus Signals in Stateflow Charts

Debug Structures
You debug structures as you would other Stateflow chart data, as described in Watch
Stateflow Data Values on page 29-35. Using the Stateflow Breakpoints and Watch
window, you can examine the values of structure fields during simulation. To view
the values of structure fields at the command line, use dot notation to index into the
structure, as described in Index Sub-Structures and Fields on page 23-17.

23-26
 24

Stateflow Design Patterns

Debounce Signals on page 24-2

Schedule Function Calls on page 24-8
Schedule Execution of Simulink Subsystems on page 24-9
Schedule Multiple Subsystems in a Single Step on page 24-10
Schedule One Subsystem in a Single Step on page 24-14
Schedule Subsystems to Execute at Specific Times on page 24-17
Implement Dynamic Test Vectors on page 24-20
Map Fault Conditions to Actions in Truth Tables on page 24-29
Design for Isolation and Recovery in a Chart on page 24-32
24 Stateflow Design Patterns

Debounce Signals
In this section...
Why Debounce Signals on page 24-2
The Debouncer Model on page 24-2
Key Behaviors of Debouncer Chart on page 24-3
Run the Debouncer on page 24-5

Why Debounce Signals

When a switch opens and closes, the switch contacts can bounce off each other before
the switch completely transitions to an on or off state. The bouncing action can produce
transient signals that do not represent a true change of state. Therefore, when modeling
switch logic, it is important to filter out transient signals using a process called
debouncing.

For example, if you model a controller in a Stateflow chart, you do not want your switch
logic to overwork the controller by turning it on and off in response to every transient
signal it receives. Instead, you can design a Stateflow debouncer that uses temporal logic
to determine whether the switch is really on or off.

The Debouncer Model

The model sf_debouncer illustrates a design pattern that uses temporal logic to isolate
transient signals.

24-2
 Debounce Signals

The Debouncer chart contains the following logic:

Key Behaviors of Debouncer Chart

The key behaviors of the Debouncer chart are:

Intermediate Debounce State Isolates Transients on page 24-3

Temporal Logic Determines True State on page 24-4

Intermediate Debounce State Isolates Transients

In addition to the states On and Off, the Debouncer chart contains an intermediate state
called Debounce. The Debounce state isolates transient inputs by checking whether the
signals retain their positive or negative values, or fluctuate between zero crossings over a
prescribed period of time. The logic works as follows.

If the input signal... Then this state... Transitions to... And the...
Retains positive value Debounce.On On Switch turns on
for 0.1 second

24-3
24 Stateflow Design Patterns

If the input signal... Then this state... Transitions to... And the...
Retains negative value Debounce.Off Off Switch turns off
for 0.1 second
Fluctuates between Debounce Off.Fault Chart isolates the input
zero crossings for 0.3 as a transient signal
second and gives it time to
Note: The Debounce recover
to Off.Fault transition
comes from a higher
level in the chart
hierarchy and overrides
the transitions from
the Debounce.Off and
Debounce.On substates.

Temporal Logic Determines True State

The debouncer design pattern uses temporal logic to:

Determine whether the input signal is normal or transient

Give transient signals time to recover and return to normal state

Use Absolute-Time Temporal Logic

The debouncer design uses the after(n, sec) operator to implement absolute-time
temporal logic (see Operators for Absolute-Time Temporal Logic on page 11-63). The
keyword sec defines simulation time that has elapsed since activation of a state.

Use Event-Based Temporal Logic

As an alternative to absolute-time temporal logic, you can apply event-based temporal

logic to determine true state in the Debouncer chart by using the after(n, tick)
operator (see Operators for Event-Based Temporal Logic on page 11-57). The keyword
tick specifies and implicitly generates a local event when the chart awakens (see
Control Chart Execution Using Implicit Events on page 9-33).

The Error Generator block in the sf_debouncer model generates a pulse signal every
0.001 second. Therefore, to convert the absolute-time temporal logic specified in the
Debouncer chart to event-based logic, multiply the n argument by 1000, as follows.

24-4
 Debounce Signals

Absolute Time-Based Logic Event-Based Logic

after ( 0.1, sec ) after ( 100, tick )
after ( 0.3, sec ) after ( 300, tick )
after ( 1, sec ) after ( 1000, tick )

Run the Debouncer

To run the sf_debouncer model, follow these steps:

1 Open the model by typing sf_debouncer at the MATLAB command prompt.

2 Open the Stateflow chart Debouncer and the Scope block.
3 Simulate the chart.

The scope shows how the debouncer isolates transient signals from the noisy input
signal.

24-5
24 Stateflow Design Patterns

24-6
 Debounce Signals

Note: To debounce the signals using event-based logic, change the Debouncer chart
as described in Use Event-Based Temporal Logic on page 24-4 and simulate
the chart again. You should get the same results.

24-7
24 Stateflow Design Patterns

Schedule Function Calls

You can schedule calls to Simulink and MATLAB functions by using conditional and
time-based logic in Stateflow. You can design logic using temporal operators without
requiring timers and counters. Temporal logic can be based on events or elapsed time.

Related Examples

More About
Control Chart Execution Using Temporal Logic on page 11-56

24-8
 Schedule Execution of Simulink Subsystems

Schedule Execution of Simulink Subsystems

In this section...
When to Implement Schedulers on page 24-9
Types of Schedulers on page 24-9

When to Implement Schedulers

Use Stateflow charts to schedule the order of execution of Simulink subsystems explicitly
in a model. Stateflow schedulers extend control of subsystem execution in a Simulink
model, which determines order of execution implicitly based on block connectivity via
sample time propagation.

Types of Schedulers
You can implement the following types of schedulers using Stateflow charts.

Scheduler Design Description

Pattern
Ladder logic Schedules multiple Simulink subsystems to execute in a single time
scheduler step
Loop scheduler Schedules one Simulink subsystem to execute multiple times in a
single time step
Temporal logic Schedules Simulink subsystems to execute at specific times
scheduler

24-9
24 Stateflow Design Patterns

Schedule Multiple Subsystems in a Single Step

The ladder logic scheduler design pattern allows you to specify the order in
which multiple Simulink subsystems execute in a single time step. The model
sf_ladder_logic_scheduler illustrates this design pattern.

The Ladder Logic Scheduler chart contains the following logic:

24-10
 Schedule Multiple Subsystems in a Single Step

Key Behaviors of Ladder Logic Scheduler

The key behaviors of the ladder logic scheduler are:

Function-Call Output Events Trigger Multiple Subsystems on page 24-11

Flow Chart Determines Order of Execution on page 24-12

Function-Call Output Events Trigger Multiple Subsystems

In a given time step, the Stateflow chart broadcasts a series of function-call output
events to trigger the execution of three function-call subsystems A1, A2, and A3 in
the Simulink model in an order determined by the ladder logic scheduler. Here is the
sequence of activities during each time step:

1 The Simulink model activates the Stateflow chart Edge to Function at a rising edge
of the 1-millisecond pulse generator.
2 The Edge to Function chart broadcasts the function-call output event call to
activate the Stateflow chart Ladder Logic Scheduler.

24-11
24 Stateflow Design Patterns

3 The Ladder Logic Scheduler chart broadcasts function-call output events to trigger
the function-call subsystems A1, A2, and A3, based on the values of inputs u1 and u2
(see Flow Chart Determines Order of Execution on page 24-12).

Flow Chart Determines Order of Execution

The Ladder Logic Scheduler chart uses Stateflow flow charting capabilities to implement
the logic that schedules the execution of the Simulink function-call subsystems. The
chart contains a Stateflow flow chart that resembles a ladder diagram. Each rung in
the ladder represents a rule or condition that determines whether to execute one of the
Simulink function-call subsystems. The flow logic evaluates each condition sequentially,
which has the effect of scheduling the execution of multiple subsystems within the same
time step. The chart executes each subsystem by using the send action to broadcast a
function-call output event (see Directed Local Event Broadcast Using send on page
11-52).

Here is the sequence of activities that occurs in the Ladder Logic Scheduler chart in each
time step:

1 Assign output y to input u1.

2 If u1 is positive, send function-call output event A1 to the Simulink model.

The subsystem connected to A1 executes. This subsystem multiplies its input by a

gain of 2 and passes this value back to the Stateflow Ladder Logic Scheduler chart as
input u2. Control returns to the next condition in the Ladder Logic Scheduler.
3 If u2 is positive or zero, send function-call output event A2 to the Simulink model.

The subsystem connected to A2 executes. This subsystem outputs its input value
unchanged. Control returns to the next condition in the Ladder Logic Scheduler.
4 If u1 and u2 are positive, send function-call output event A3 to the Simulink model.

The subsystem connected to A3 executes. This subsystem multiplies its input by a

gain of 1.
5 The Ladder Logic Scheduler chart goes to sleep.

Run the Ladder Logic Scheduler

To run the sf_ladder_logic_scheduler model, follow these steps:

1 Open the model by typing sf_ladder_logic_scheduler at the MATLAB

command prompt.

24-12
 Schedule Multiple Subsystems in a Single Step

2 Open the Scope block.

3 Start simulation.

The scope shows how output y changes, depending on which subsystems the Ladder
Logic Scheduler chart calls during each time step.

Tip: If you keep the chart closed, the simulation runs much faster. For other tips, see
Speed Up Simulation on page 28-14.

24-13
24 Stateflow Design Patterns

Schedule One Subsystem in a Single Step

With the loop scheduler design pattern, you can schedule one Simulink subsystem to
execute multiple times in a single time step. The model sf_loop_scheduler illustrates
this design pattern.

The Looping Scheduler chart contains the following logic:

24-14
 Schedule One Subsystem in a Single Step

Key Behaviors of Loop Scheduler

The key behaviors of the loop scheduler are:

Function-Call Output Event Triggers Subsystem Multiple Times on page 24-15

Flow Chart Implements For Loop on page 24-15

Function-Call Output Event Triggers Subsystem Multiple Times

In a given time step, the Stateflow chart broadcasts a function-call output event to
trigger the execution of the function-call subsystem A1 multiple times in the Simulink
model. Here is the sequence of activities during each time step:

1 The Simulink model activates the Stateflow chart Edge to Function at a rising edge
of the 1-millisecond pulse generator.
2 The Edge to Function chart broadcasts the function-call output event call to
activate the Stateflow chart Looping Scheduler.
3 The Looping Scheduler chart broadcasts a function-call output event from a for
loop to trigger the function-call subsystem A1 multiple times (see Flow Chart
Implements For Loop on page 24-15).

Flow Chart Implements For Loop

The Looping Scheduler chart uses Stateflow flow charting capabilities to implement
a for loop for broadcasting an event multiple times in a single time step. The chart
contains a Stateflow flow chart that uses a local data variable i to control the loop. At
each iteration, the chart updates output y and issues the send action to broadcast a
function-call output event that executes subsystem A1. Subsystem A1 uses the value of y
to recompute its output and send the value back to the Looping Scheduler chart.

Run the Loop Scheduler

To run the sf_loop_scheduler model, follow these steps:

1 Open the model by typing sf_loop_scheduler at the MATLAB command prompt.

2 Open the Scope block.
3 Start simulation.

The scope displays the value of y at each time step.

24-15
24 Stateflow Design Patterns

In this example, the Looping Scheduler chart executes the for loop 10 times in each time
step. During each iteration:

1 The chart increments y by 1 (the constant value of input u1).

2 The chart broadcasts a function-call output event that executes subsystem A1.
3 Subsystem A1 multiplies y by a gain of 1.
4 Control returns to the chart.

24-16
 Schedule Subsystems to Execute at Specific Times

Schedule Subsystems to Execute at Specific Times

The temporal logic scheduler design pattern allows you to schedule Simulink
subsystems to execute at specified times. The model sf_temporal_logic_scheduler
illustrates this design pattern.

The Temporal Logic Scheduler chart contains the following logic:

24-17
24 Stateflow Design Patterns

Key Behaviors of Temporal Logic Scheduler

The Temporal Logic Scheduler chart contains two states that schedule the execution
of the function-call subsystems A1, A2, and A3 at different rates, as determined by the
temporal logic operator every (see Operators for Event-Based Temporal Logic on page
11-57).

In the FastScheduler state, the every operator schedules function calls as follows:

Sends A1 every time the function-call output event call wakes up the chart
Sends A2 at half the base rate
Sends A3 at one-quarter the base rate

The SlowScheduler state schedules function calls less frequently at 8, 16, and 32 times
slower than the base rate. The chart switches between fast and slow executions after
every 100 invocations of the call event.

Run the Temporal Logic Scheduler

To run the sf_temporal_logic_scheduler model, follow these steps:

24-18
 Schedule Subsystems to Execute at Specific Times

1 Open the model by typing sf_temporal_logic_scheduler at the MATLAB

command prompt.
2 Open the Scope block.
3 Start simulation.
4 After the simulation ends, click the Autoscale button in the Scope block.

The scope illustrates the different rates of execution.

24-19
24 Stateflow Design Patterns

Implement Dynamic Test Vectors

In this section...
When to Implement Test Vectors on page 24-20
A Dynamic Test Vector Chart on page 24-22
Key Behaviors of the Chart and Model on page 24-24
Run the Model with Stateflow Test Vectors on page 24-26

When to Implement Test Vectors

Use Stateflow charts to create test vectors that change dynamically during simulation,
based on the state of the system you are modeling.

For example, suppose you want to test an automatic car transmission controller in the
situation where a car is coasting. To achieve a coasting state, a driver accelerates until
the transmission shifts into the highest gear, then eases up on the gas pedal. To test this
scenario, you could generate a signal that represents this behavior, as in the following
Signal Builder block.

24-20
 Implement Dynamic Test Vectors

However, this approach has limitations. The signal changes value based on time, but
cannot respond dynamically to changes in the system that are not governed by time
alone. For example, how does the signal know when the transmission shifts into the
highest gear? In this case, the signal assumes that the shift always occurs at time 5
because it cannot test for other deterministic conditions such as the speed of the vehicle.
Moreover, you cannot change the signal based on outputs from the model.

By contrast, you can use Stateflow charts to develop test vectors that use conditional
logic to evaluate and respond to changes in system state as they occur. For example, to

24-21
24 Stateflow Design Patterns

test the coasting scenario, the chart can evaluate an output that represents the gear
range and reduce speed only after the transmission shifts to the highest gear. That is, the
car slows down as a direct result of the gear shift and not at a predetermined time. For a
detailed look at this type of chart, see A Dynamic Test Vector Chart on page 24-22.

A Dynamic Test Vector Chart

The following model of an automatic transmission controller uses a Stateflow chart to
implement test vectors that represent brake, throttle, and gear shift dynamics. The
chart, called Dynamic Test Vectors, interfaces with the rest of the model as shown.

The chart models the dynamic relationship between the brake and throttle to test four
driving scenarios. Each scenario is represented by a state.

24-22
Implement Dynamic Test Vectors

24-23
24 Stateflow Design Patterns

In some of these scenarios, the throttle changes in response to time; in other cases, it
responds to gear selection, an output of the Stateflow chart Shift_logic. The Shift_logic
chart determines the gear value based on the speed of the vehicle.

Key Behaviors of the Chart and Model

The key behaviors of the test vector chart and model are:

Chart Represents Test Cases as States on page 24-24

Chart Uses Conditional Logic to Respond to Dynamic Changes on page 24-24
Model Provides an Interface for Selecting Test Cases on page 24-24

Chart Represents Test Cases as States

The Dynamic Test Vectors chart represents each test case as an exclusive (OR) state.
Each state manipulates brake and throttle values in a unique way, based on the time and
gear inputs to the chart.

The chart determines which test to execute from the value of a constant signal case,
output from the Signal Builder block. Each test case corresponds to a unique signal
value.

Chart Uses Conditional Logic to Respond to Dynamic Changes

The Dynamic Test Vectors chart uses conditions on transitions to test time and gear
level, and then adjusts brake and throttle accordingly for each driving scenario. Stateflow
charts provide many constructs for testing system state and responding to changes,
including:

Conditional logic (see State Action Types on page 11-2 and Transition Action
Types on page 11-8)
Temporal logic (see Control Chart Execution Using Temporal Logic on page 11-56)
Change detection operators (see Detect Changes in Data Values on page 11-74)
MATLAB functions (see Access Built-In MATLAB Functions and Workspace Data
on page 11-38)

Model Provides an Interface for Selecting Test Cases

The model uses a Signal Builder block to provide an interface for selecting test scenarios
to simulate.

24-24
 Implement Dynamic Test Vectors

Select and Run Test Cases

In the Signal Builder, select and run test cases as follows:

To Test: Do This:
One case Click the tab that corresponds to the
driving scenario you want to test and click
the Start simulation button:

24-25
24 Stateflow Design Patterns

To Test: Do This:
All cases and produce a model coverage Click the Run all and produce coverage
report (requires a Simulink Verification button:
and Validation software license)

The Signal Builder block sends to the Dynamic Test Vectors chart one or more constant
signal values that correspond to the driving scenarios you select. The chart uses these
values to activate the appropriate test cases.

Run the Model with Stateflow Test Vectors

To run the sf_test_vectors model, follow these steps:

1 Open the model by typing sf_test_vectors at the MATLAB command prompt.

2 Open the Dynamic Test Vectors chart, the Signal Builder block, and the Scope block.
3 Select and simulate a driving scenario from the Signal Builder block, as described in
Select and Run Test Cases on page 24-25.

The scope shows the interaction between speed and throttle for the selected scenario.

24-26
 Implement Dynamic Test Vectors

Driving Scenario Scope Display Description

Passing Maneuver Driver accelerates rapidly.
At t = 15 seconds, steps
the throttle to 100. With
continued heavy throttle,
the vehicle accelerates
to about 100 MPH and
then shifts into overdrive
at about t = 21 seconds.
The vehicle cruises
along in fourth gear for
the remainder of the
simulation.

Gradual Driver maintains a

Acceleration slow but steady rate of
acceleration.

24-27
24 Stateflow Design Patterns

Driving Scenario Scope Display Description

Hard Braking Driver accelerates until the
transmission shifts to third
gear, then removes foot
from the gas pedal. After a
short delay, moves foot to
the brake pedal and pushes
hard.

Coasting Driver accelerates until

transmission shifts to
highest gear, then eases up
on the gas.

24-28
 Map Fault Conditions to Actions in Truth Tables

Map Fault Conditions to Actions in Truth Tables

You can use truth tables in Stateflow to map fault conditions of a system directly to their
consequent actions. Truth tables implement logic design based on conditions, decisions,
and actions. For more information, see What Is a Truth Table? on page 25-2.

This example shows how the model sf_aircraft maps the fault conditions and actions
using a truth table. For details on this model, see .

The fault detection system for the aircraft elevator control system has these
requirements.

Condition Action
Hydraulic pressure 1 failure While there are no other failures, turn off
the left outer actuator.
Hydraulic pressure 2 failure While there are no other failures, turn off
the left inner actuator and the right inner
actuator.
Hydraulic pressure 3 failure While there are no other failures, turn off
the right outer actuator.
Actuator position failure While there are no other failures, isolate
that specific actuator.
Hydraulic pressure 1 and left outer While there are no other failures, turn off
actuator failures the left outer actuator
Hydraulic pressure 2 and left inner While there are no other failures, turn off
actuator failures the left inner actuator.
Hydraulic pressure 3 and right outer While there are no other failures, turn off
actuator failures the right outer actuator
Multiple failures on left hydraulics and Isolate the left outer actuator and the left
actuators inner actuator.
Multiple failures on right hydraulics and Isolate the right outer actuator and the
actuators right inner actuator.
Intermittent actuator failures If an actuator has been switched on and
off five times during operation, isolate that
specific actuator.

24-29
24 Stateflow Design Patterns

Logic to satisfy these requirements is constructed using two truth tables in the chart
Mode Logic; one for the right elevator (R_switch), and one for the left elevator
(L_switch). This truth table is for the left elevator.

24-30
 Map Fault Conditions to Actions in Truth Tables

The first requirement indicates that if a failure is only detected in the hydraulic pressure
1 system, turn off the left outer actuator. This requirement is represented in the
decision D1 in the truth table. If there is low pressure in the hydraulic system 1, then D1
specifies that action 2 is performed. Action 2 sends an event go_off to the left actuator,
Actuators.LO.

Similarly, the other requirements are mapped to the appropriate actions in the truth
table. For example, if the left outer actuator fails, D3 causes action 3. Action 3 sends the
event go_isolated to Actuators.LO to isolate the left actuator.

The truth tables are called at entry(en) and during(du) actions for the chart so that fault
checks execute at each time step.

24-31
24 Stateflow Design Patterns

Design for Isolation and Recovery in a Chart

In this section...
Mode Logic for the Elevator Actuators on page 24-32
States for Failure and Isolation on page 24-33
Transitions for Recovery on page 24-34

Mode Logic for the Elevator Actuators

This example shows how the model sf_aircraft uses the chart Mode Logic to detect
system faults and recover from failure modes for an aircraft elevator control system. For
more information on this model, see .

There are two elevators in the system, each with an outer and inner actuator. The
Actuators state has a corresponding substate for each of the four actuators. An actuator
has five modes: Passive, Active, Standby, Off, and Isolated. By default, the outer
actuators are on, and the inner actuators are on standby. If a fault is detected in the
outer actuators, the system responds to maintain stability by turning the outer actuators
off and activating the inner actuators.

24-32
 Design for Isolation and Recovery in a Chart

States for Failure and Isolation

Each actuator contains an Off state and an Isolated state. When the fault detection
logic in one of the truth tables detects a failure, it broadcasts the event go_off or
go_isolated to the failing actuator. For more information, see Map Fault Conditions
to Actions in Truth Tables on page 24-29.

24-33
24 Stateflow Design Patterns

The go_off event instructs the failing actuator to transition to the Off state until the
condition is resolved. The event go_isolated causes the failing actuator to transition
to Isolated. Transitions to the Isolated state are from the superstate L1, which
contains all the other operating modes. This state has no outgoing transitions, so that
once an actuator has entered Isolated it remains there. Intermittent failures that
cause an actuator to fail 5 or more times, also cause a transition to Isolated. The
variable fails logs the number of failures for an actuator by incrementing each time a
transition occurs out of Off.

Transitions for Recovery

Transitions in the substates for each actuator account for recovery requirements of the
elevator system. These requirements derive from rules for symmetry and safety of the
elevators such as:

Only one actuator for an elevator must be active at one time.

Outer actuators have priority over the inner actuators.
Actuator activity should be symmetric if possible.
Switching between actuators must be kept to a minimum.

For example, one requirement of the system is if one outer actuator fails, then the other
outer actuator must move to standby and the inner actuators take over. Consequently,
there is a transition from each Active state to Standby, and vice versa.

24-34
 Design for Isolation and Recovery in a Chart

For the inner left actuator (LI ), the transition to Active inside the L1 superstate is
conditionally based on [!LO_act()|RI_act()]. This causes the left inner actuator to
turn on if the outer actuator (LO) has failed, or the right inner actuator (RI) has turned
on.

24-35
24 Stateflow Design Patterns

Another consequence if LO fails and moves out of Active is a transition that occurs in
the right outer actuator (RO). The RO state transitions inside the L1 superstate from
Active to Standby. This satisfies the requirement of the outer actuators and inner
actuators to work in symmetry.

24-36
 25

Truth Table Functions for Decision-

Making Logic

What Is a Truth Table? on page 25-2

Language Options for Stateflow Truth Tables on page 25-4
Represent Combinatorial Logic Using Truth Tables on page 25-6
Build Model with Stateflow Truth Table on page 25-7
Program a Truth Table on page 25-19
Debug a Truth Table on page 25-44
Correct Overspecified and Underspecified Truth Tables on page 25-60
How Stateflow Generates Content for Truth Tables on page 25-69
Truth Table Editor Operations on page 25-76
25 Truth Table Functions for Decision-Making Logic

What Is a Truth Table?

Truth table functions implement combinatorial logic design in a concise, tabular format.
Typical applications for truth tables include decision making for:

Fault detection and management

Mode switching

Stateflow truth tables contain conditions, decisions, and actions arranged as follows:

Condition Decision 1 Decision 2 Decision 3 Default Decision

x == 1 T F F -
y == 1 F T F -
z == 1 F F T -
Action t=1 t=2 t=3 t=4

Each of the conditions entered in the Condition column must evaluate to true (nonzero
value) or false (zero value). Outcomes for each condition are specified as T (true), F
(false), or - (true or false). Each of the decision columns combines an outcome for each
condition with a logical AND into a compound condition, that is referred to as a decision.

You evaluate a truth table one decision at a time, starting with Decision 1. If one of
the decisions is true, you perform its action and truth table execution is complete. For
example, if conditions 1 and 2 are false and condition 3 is true, Decision 3 is true and the
variable t is set equal to 3. The remaining decisions are not tested and evaluation of the
truth table is finished.

The last decision in the preceding example, Default Decision, covers all possible
remaining decisions. If Decisions 1, 2, and 3 are false, then the Default Decision is
automatically true and its action (t = 4) is executed. You can see this behavior when you
examine the following equivalent pseudocode for the evaluation of the preceding truth
table example:

Description Pseudocode
Decision 1 if ((x == 1) & !(y == 1) & !(z == 1))
t = 1;
Decision 1 Action

25-2
 What Is a Truth Table?

Description Pseudocode
Decision 2 elseif (!(x == 1) & (y == 1) & !(z == 1))
t = 2;
Decision 2 Action
Decision 3 elseif (!(x == 1) & !(y == 1) & (z == 1))
t = 3;
Decision 3 Action
Default Decision else
t = 4;
Default Decision Action endif

Where to Use a Truth Table

A truth table function can reside anywhere in a chart, state, or subchart. The location of
a function determines its scope, that is, the set of states and transitions that can call the
function. Follow these guidelines:

If you want to call the function only within one state or subchart and its substates,
put your truth table function in that state or subchart. That function overrides
any other functions of the same name in the parents and ancestors of that state or
subchart.
If you want to call the function anywhere in that chart, put your truth table function
at the chart level.

More About
Build Model with Stateflow Truth Table on page 25-7
Represent Combinatorial Logic Using Truth Tables on page 25-6

25-3
25 Truth Table Functions for Decision-Making Logic

Language Options for Stateflow Truth Tables

In this section...
C Truth Tables on page 25-4
MATLAB Truth Tables on page 25-4
Select a Language for Stateflow Truth Tables on page 25-5
Migration from C to MATLAB Truth Tables on page 25-5

C Truth Tables
Using C truth tables, you can specify conditions and actions with C as the action
language. C truth tables support basic C constructs and provide access to MATLAB
functions by using the ml namespace operator or ml function. To use C as the action
language for your truth table, it must be inside a Stateflow C action language chart.

MATLAB Truth Tables

Truth Table blocks and truth tables inside charts that use MATLAB as the action
language are MATLAB truth tables. In these MATLAB truth tables, you cannot specify C
as the action language. You can specify conditions and actions in MATLAB truth tables,
which provides optimizations for simulation and code generation.

MATLAB truth tables offer several advantages over C truth tables:

MATLAB as the action language provides a richer syntax for specifying control flow
logic in truth table actions. It provides for loops, while loops, nested if statements,
and switch statements.
You can call MATLAB functions directly in truth table actions. Also, you can call
library functions (for example, MATLAB sin and fft functions) and generate code
for these functions by using Simulink Codersoftware.
You can create temporary or persistent variables during simulation or in code directly
without having to define them in the Model Explorer.
You have access to better debugging tools. You can set breakpoints on lines of code,
step through code, and watch data values tool tips.
You can use persistent variables in truth table actions. You can define data that
persists across multiple calls to the truth table function during simulation.

25-4
 Language Options for Stateflow Truth Tables

Select a Language for Stateflow Truth Tables

If the truth table is inside a C action language Stateflow chart, you can specify an action
language for your Stateflow truth table.

1 To open the Truth Table Editor, double-click the truth table.

2 Select Settings > Language.
3 From the drop-down menu, select C or MATLAB.

Note: If you do not have the option to change the action language, your truth table is a
MATLAB truth table.

Migration from C to MATLAB Truth Tables

When you migrate from a C truth table to a MATLAB truth table, you must verify that
the code to program the actions conforms to MATLAB syntax. Between the two action
languages, these differences exist.

Action language Indices Expression for not equal to

MATLAB One-based ~=
C Zero-based !=

You can check for syntax errors in the Truth Table Editor by selecting Settings > Run
Diagnostics, as described in Check Truth Tables for Errors on page 25-44.

25-5
25 Truth Table Functions for Decision-Making Logic

Represent Combinatorial Logic Using Truth Tables

Here is the recommended workflow for using truth tables in Simulink models.

Step Task Reference

1 Add a truth table to your Simulink Build Model with Stateflow Truth
model. Table on page 25-7
2 Specify properties of the truth table Specify Properties of Truth Table
function. Functions in Stateflow Charts on page
25-9
3 Select an action language and program Program a Truth Table on page
the conditions and actions in the truth 25-19
table.
4 Debug the truth table for syntax errors Debug a Truth Table on page
and for errors during simulation. 25-44
5 Simulate the model and check the How Stateflow Generates Content for
generated content for the truth tables. Truth Tables on page 25-69

25-6
 Build Model with Stateflow Truth Table

Build Model with Stateflow Truth Table

Add a Stateflow Block that Calls a Truth Table Function
You can add a Stateflow Truth Table block directly to your Simulink model or you can
include a truth table within a a Stateflow block to your Simulink model, and then create
a chart that calls a truth table function.

Once you build a model, finish it by programming the truth table with its behavior as
described in Program a Truth Table on page 25-19.

Create a Simulink Model

To execute a truth table, you first need a Simulink model that calls a Stateflow block.
Later, you create a Stateflow chart for the Stateflow block that calls a truth table
function. Here, you create a Simulink model that calls a Stateflow block.

1 At the command prompt, enter:

sfnew

An untitled model with a Stateflow block appears.

2 Click and drag the Stateflow block to the center of the model window.
3 In the model window, select View > Library Browser.

The Simulink Library Browser window opens with the Simulink node expanded.
4 Under the Simulink node, select the Sources library.

The right pane of the Simulink Library Browser window displays the blocks of the
Sources library.
5 From the right pane of the Simulink Library Browser, click and drag the Constant
block to the left of the Chart block in the model.
6 Add two more Constant blocks to the left of the Chart block, and add a Display block
(from the Sinks library) to the right of the Chart block.

25-7
25 Truth Table Functions for Decision-Making Logic

7 In the model, double-click the middle Constant block.

8 In the Block Parameters dialog box that appears, change Constant value to 0.
9 Click OK to close the dialog box.
10 In the model, double-click the bottom Constant block.
11 In the Block Parameters dialog box that appears, change Constant value to 0.
12 Click OK to close the dialog box.

Your model should now look something like this:

13 Open the Model Configuration Parameters dialog box.

14 On the Solver pane, set:

Type to Fixed-step
Solver to discrete (no continuous states)
Fixed-step size to 1
15 Click OK to accept these values and close the Model Configuration Parameters
dialog box.
16 Save the model as ex_first_truth_table.

Create a Stateflow Truth Table

You created a Simulink model in Create a Simulink Model on page 25-7 that
contains a Stateflow block. Now open the chart for the block and specify a truth table for
it:

1 In your model, double-click the Chart block to open an empty chart.

25-8
 Build Model with Stateflow Truth Table

2 Click the Truth Table drawing tool:

3 Move your pointer into the empty chart and notice that it appears in the shape of a
box.
4 Click to place a new truth table.

A shaded box appears with the title truthtable.

5 Enter the signature label
t = ttable(x,y,z)

and click outside the truth table box.

The signature label of the truth table function follows this syntax:
[return_val1, return_val2,...] = function_name(arg1, arg2,...)

You can specify multiple return values and multiple input arguments. Each return
value and input argument can be a scalar, vector, or matrix of values.

Note: For functions with only one return value, you can omit the brackets in the
signature label.

Specify Properties of Truth Table Functions in Stateflow Charts

After you add a truth table function to a chart, you can specify its properties by following
these steps:

1 Right-click the truth table function box and select Properties from the context
menu.

The Truth Table properties dialog box for the truth table function appears. It
contains a General tab and a Documentation tab.

25-9
25 Truth Table Functions for Decision-Making Logic

The fields in the Truth Table properties dialog box under the General tab are as
follows:

Field Description
Name Function name; read-only; click this hypertext link to bring
the truth table function to the foreground in its native
Stateflow chart.

25-10
 Build Model with Stateflow Truth Table

Field Description
Function Inline This option controls the inlining of the truth table function
Option in generated code through the following selections:

Auto
Decides whether or not to inline the truth table function
based on an internal calculation.
Inline
Inlines the truth table function as long as it is not
exported to other charts and is not part of a recursion. A
recursion exists if the function calls itself either directly
or indirectly through another called function.
Function
Does not inline the function.
Label You can specify the signature label for the function through
this field. See Create a Stateflow Truth Table on page
25-8 for more information.

25-11
25 Truth Table Functions for Decision-Making Logic

The fields in the Truth Table properties dialog box under the Documentation tab
are as follows:

Field Description
Description Textual description/comment.
Document link Enter a URL address or a general MATLAB
command. Examples are www.mathworks.com,
mailto:email_address, and edit/spec/data/
speed.txt.
2 Click OK to close the dialog box.

Call a Truth Table in a Stateflow Action

In Create a Stateflow Truth Table on page 25-8, you created the truth table
function ttable with the signature:

25-12
 Build Model with Stateflow Truth Table

t = ttable(x,y,z)

Now you need to specify a call to the truth table function in the chart. Later, when the
chart executes during simulation, it calls the truth table.

You can call truth table functions from the actions of any state or transition. You can
also call truth tables from other functions, including graphical functions and other truth
tables. Also, if you export a truth table, you can call it from any chart in the model.

To call the ttable function from the default transition of its own chart, follow these
steps:

1 From the toolbar, select the Default Transition tool:

2 Move your pointer to a location left of the truth table function and notice that it
appears in the shape of a downward-pointing arrow.
3 Click to place a default transition into a terminating junction.

4 Click the question mark character (?) that appears on the default transition.

A blinking cursor in a text field appears for entering the label of the default
transition.
5 Enter the text

{d = ttable(a,b,c);}

and click outside the transition label to finish editing it.

You might want to adjust the label's position by clicking and dragging it to a new
location. The finished chart should look something like this:

25-13
25 Truth Table Functions for Decision-Making Logic

The label on the default transition provides a condition action that calls the truth
table with arguments and a return value. When the Simulink model triggers the
Stateflow block during simulation, the default transition executes and a call to the
truth table ttable occurs.

The function call to the truth table must match the truth table signature. The type of
the return value d must match the type of the signature return value t, and the type
of the arguments a, b, and c must match the type of the signature arguments x, y,
and z. You ensure this with a later step in this section when you create the data that
you use in the chart.

Tip: If the formal arguments of a function signature are scalars, verify that
inputs and outputs of function calls follow the rules of scalar expansion. For more
information, see How Scalar Expansion Works for Functions on page 16-6.
6 Save the model.

Create Truth Table Data in Stateflow Charts and Simulink Models

When you create a truth table with its own signature, you specify data for it in the form
of a return value (t) and argument values (x, y, z). When you specify a call to a truth
table, as you did in Call a Truth Table in a Stateflow Action on page 25-12, you
specify data that you pass to the return and argument values of the truth table (d, a, b,
and c). Now you must define this data for the chart as follows:

1 Double-click the truth table function to open the Truth Table Editor.
2 In the Truth Table Editor, select Add > Edit Data/Ports.

The Model Explorer appears.

25-14
 Build Model with Stateflow Truth Table

In the Model Hierarchy pane, the node for the function ttable appears
highlighted, and the Contents pane displays the output (t) and inputs (x, y, z) for
ttable. By default, these data are scalars of type double. If you want to redefine
these data with a different size and type, you do it in the Model Explorer. However,
no changes are necessary for this example.

Notice also in the Model Hierarchy pane that the node above the function ttable
is Chart, the name of the chart that contains the truth table ttable.

How do I enable the third pane in the Model Explorer?

To enable or disable the third pane in the Model Explorer, select View > Show
Dialog Pane.
3 In the Model Hierarchy pane, select Chart.

Notice that Chart contains no input or output data in the Contents pane. You must
add the return and argument data for calling ttable.
4 Select Add > Data.

25-15
25 Truth Table Functions for Decision-Making Logic

A scalar data is added to the chart in the Contents pane of the Model Explorer with
the default name data. This data matches argument x in type and size.

How do I verify type and size?

To verify that the properties match, right-click data in the Contents pane and
select Properties. The property sheet shows that the type is double and the size is
scalar (the default when there is no entry in the Size field).
5 In the Contents pane, double-click the entry data in the Name column.

A small text field opens with the name data highlighted.

6 In the text field, change the name to a.
7 Under Scope, click the entry Local .

A drop-down menu of selectable scopes appears with Local selected.

8 Select Input.

The scope Input means that the Simulink model provides the value for this data,
which passes to the chart through an input port on the Stateflow block.

You should now see the new data input a in the Contents pane.
9 Repeat steps 4 through 8 to add the data b and c with the scope Input, and data d
with the scope Output.

The scope Output means that the chart provides this data, which passes to the
Simulink model through an output port on the Stateflow block.

You should now see the input and output data in the Model Explorer.

25-16
 Build Model with Stateflow Truth Table

The data a, b, c, and d match their counterparts x, y, z, and t in the truth table
signature in size (scalar) and type (double), but have sources outside the Stateflow
block. Notice that input ports for a, b, and c, and an output port for d appear on the
Stateflow block in the model.

10 Complete connections to the Simulink blocks:

25-17
25 Truth Table Functions for Decision-Making Logic

11 Save the model.

25-18
 Program a Truth Table

Program a Truth Table

In this section...
Open a Truth Table for Editing on page 25-19
Select an Action Language on page 25-21
Enter Truth Table Conditions on page 25-21
Enter Truth Table Decisions on page 25-23
Enter Truth Table Actions on page 25-26
Assign Truth Table Actions to Decisions on page 25-36
Add Initial and Final Actions on page 25-41

Open a Truth Table for Editing

After you create and label a truth table in a chart, you specify its logical behavior. To
open the Truth Table Editor, double-click the truth table function.

25-19
25 Truth Table Functions for Decision-Making Logic

25-20
 Program a Truth Table

By default, a truth table contains a Condition Table and an Action Table, each with
one row. The Condition Table contains a single decision column, D1, and a single
action row.

Select an Action Language

If the truth table is inside a C action language Stateflow chart, you can specify the action
language for your Stateflow truth table:

1 In the Truth Table Editor, select Settings > Language.

2 From the drop-down list, choose a language.

Enter Truth Table Conditions

Conditions are the starting point for specifying logical behavior in a truth table. You
open the truth table ttable for editing. See Open a Truth Table for Editing on page
25-19. You start programming the behavior of ttable by specifying conditions.

You enter conditions in the Condition column of the Condition Table. For each
condition that you enter, you can enter an optional description in the Description
column. To enter conditions for the truth table ttable:

1 Click anywhere in the Condition Table to select it.

2 Select Edit > Append Row twice.

The editor appends two rows to the bottom of the Condition Table.
3 Click and drag the bar that separates the Condition Table and the Action Table
panes down to enlarge the Condition Table pane.
4 In the Condition Table, click the top cell of the Description column.

A flashing text cursor appears in the cell, which appears highlighted.

5 Enter this text:

x is equal to 1

Condition descriptions are optional, but appear as comments in the generated code
for the truth table.
6 To select the next cell on the right in the Condition column, press the Tab key.

25-21
25 Truth Table Functions for Decision-Making Logic

7 In the first cell of the Condition column, enter:

XEQ1:

This text is an optional label that you can include with the condition. Each label
must begin with an alphabetic character ([a-z][A-Z]) followed by any number of
alphanumeric characters ([a-z][A-Z][0-9]) or an underscore (_).
8 Press Enter and this text:

x == 1

This text is the actual condition. Each condition that you enter must evaluate to zero
(false) or nonzero (true). You can use optional brackets in the condition (for example,
[x == 1]).

In truth table conditions, you can use data that passes to the truth table function
through its arguments. The preceding condition tests whether the argument x
is equal to 1. You can also use data defined for parent objects of the truth table,
including the chart.
9 Repeat the preceding steps to enter the other two conditions.

25-22
 Program a Truth Table

Enter Truth Table Decisions

Each decision column (D1, D2, and so on) binds a group of condition outcomes together
with an AND relationship into a decision. The possible values for condition outcomes in a

25-23
25 Truth Table Functions for Decision-Making Logic

decision are T (true), F (false), and - (true or false). In Enter Truth Table Conditions on
page 25-21 you entered conditions for the truth table ttable. Continue by entering
values in the decision columns:

1 Click anywhere in the Condition Table to select it.

2 Select Edit > Append Column three times to add three columns to the right end of
the Condition Table.
3 Click the top cell in decision column D1.

A flashing text cursor appears in the cell, which appears highlighted.

4 Press the space bar until a value of T appears.

Pressing the space bar toggles through the possible values of F, -, and T. You can
also enter these characters directly. The editor rejects all other entries.
5 Press the down arrow key to advance to the next cell down in the D1 column.

In the decision columns, you can use the arrow keys to advance to another cell in any
direction. You can also use Tab and Shift+Tab to advance left or right in these cells.
6 Enter the remaining values for the decision columns:

25-24
 Program a Truth Table

During execution of the truth table, decision testing occurs in left-to-right order. The
order of testing for individual condition outcomes within a decision is undefined. Truth
tables evaluate the conditions for each decision in top-down order (first condition 1, then
condition 2, and so on). Because this implementation is subject to change in the future,
do not rely on a specific evaluation order.

25-25
25 Truth Table Functions for Decision-Making Logic

The Default Decision Column

The last decision column in ttable, D4, is the default decision for this truth table. The
default decision covers any decisions not tested for in preceding decision columns to the
left. You enter a default decision as the last decision column on the right with an entry of
- for all conditions in the decision. This entry represents any outcome for the condition, T
or F.

In the preceding example, the default decision column, D4, specifies these decisions:

Condition Decision 4 Decision 5 Decision 6 Decision 7 Decision 8

x == 1 F T F T T
y == 1 F F T T T
z == 1 F T T F T

Tip: The default decision column must be the last column on the right in the Condition
Table.

Enter Truth Table Actions

During execution of the truth table, decision testing occurs in left-to-right order. When a
decision match occurs, the action in the Action Table specified in the Actions row for
that decision column executes. Then the truth table exits.

In Enter Truth Table Decisions on page 25-23, you entered decisions in the Truth
Table Editor. The next step is to enter actions you want to occur for each decision in the
Action Table. Later, you assign these actions to their decisions in the Actions row of
the Condition Table.

This section describes how to program truth table actions with these topics:

Set Up the Action Table on page 25-27 Shows you how to set up the Action
Table in truth table ttable.
Program Actions Using C Expressions on page 25-29 Provides sample code to
program actions in ttable. Follow this section if you selected C as the language for
this truth table.

25-26
 Program a Truth Table

Program Actions Using MATLAB Expressions on page 25-32 Provides sample

MATLAB code to program actions in ttable. Follow this section if you selected
MATLAB as the language for this truth table.

Set Up the Action Table

1 Click anywhere in the Action Table to select it.

2 Select Edit > Append Row three times to add three rows to the bottom of the
Action Table:

25-27
25 Truth Table Functions for Decision-Making Logic

3 Program the actions using the language you selected for the truth table.

If you selected... Use this procedure...

C Program Actions Using C Expressions on page 25-29

25-28
 Program a Truth Table

If you selected... Use this procedure...

MATLAB Program Actions Using MATLAB Expressions on page
25-32

Program Actions Using C Expressions

Follow this procedure to program your actions using C as the action language:

1 Click the top cell in the Description column of the Action Table.

A flashing text cursor appears in the cell, which appears highlighted.

2 Enter the following description:
set t to 1

Action descriptions are optional, but appear as comments in the generated code for
the truth table.
3 Press Tab to select the next cell on the right, in the Action column.
4 Enter the following text:
A1:

You begin an action with an optional label followed by a colon (:). Later, you enter
these labels in the Actions row of the Condition Table to specify an action for each
decision column. Like condition labels, action labels must begin with an alphabetic
character ([a-z][A-Z]) followed by any number of alphanumeric characters ([a-z]
[A-Z][0-9]) or an underscore (_).
5 Press Enter and enter the following text:
t=1;

In truth table actions, you can use data that passes to the truth table function
through its arguments and return value. The preceding action, t=1, sets the value of
the return value t. You can also specify actions with data defined for a parent object
of the truth table, including the chart. Truth table actions can also broadcast or send
events that are defined for the truth table, or for a parent, such as the chart itself.

Tip: If you omit the semicolon at the end of an action, the result of the action echoes
to the MATLAB Command Window when the action executes during simulation. Use
this echoing option as a debugging tool.

25-29
25 Truth Table Functions for Decision-Making Logic

6 Enter the remaining actions in the Action Table, as shown:

25-30
Program a Truth Table

25-31
25 Truth Table Functions for Decision-Making Logic

Now you are ready to assign actions to decisions, as described in Assign Truth Table
Actions to Decisions on page 25-36.

Program Actions Using MATLAB Expressions

If you selected MATLAB as the action language, you can write MATLAB code to program
your actions. Using this code, you can add control flow logic and call MATLAB functions
directly. In the following procedure, you program an action in the truth table ttable,
using the following features of MATLAB syntax:

Persistent variables
if ... else ... end control flows
for loop

Follow these steps:

1 Click the top cell in the Description column of the Action Table.

A flashing text cursor appears in the cell, which appears highlighted.

2 Enter this description:

Maintain a counter and a circular

vector of values of length 6.
Every time this action is called,
output t takes the next value of
the vector.

Action descriptions are optional, but appear as comments in the generated code for
the truth table.
3 Press Tab to select the next cell on the right, in the Action column.
4 Enter the following text:

A1:

You begin an action with an optional label followed by a colon (:). Later, you enter
these labels in the Actions row of the Condition Table to specify an action for each
decision column. Like condition labels, action labels must begin with an alphabetic
character ([a-z][A-Z]) followed by any number of alphanumeric characters ([a-z]
[A-Z][0-9]) or an underscore (_).
5 Press Enter and enter the following text:

25-32
 Program a Truth Table

persistent values counter;

cycle = 6;

coder.extrinsic('plot');

if isempty(counter)
% Initialize counter to be zero
counter = 0;
else
% Otherwise, increment counter
counter = counter + 1;
end

if isempty(values)
% Values is a vector of 1 to cycle
values = zeros(1, cycle);
for i = 1:cycle
values(i) = i;
end

% For debugging purposes, call the MATLAB

% function "plot" to show values
plot(values);
end

% Output t takes the next value in values vector

t = values( mod(counter, cycle) + 1);

In truth table actions, you can use data that passes to the truth table function
through its arguments and return value. The preceding action sets the return value
t equal to the next value of the vector values. You can also specify actions with
data defined for a parent object of the truth table, including the chart. Truth table
actions can also broadcast or send events that are defined for the truth table, or for a
parent, such as the chart itself.

Note: If you omit the semicolon at the end of an action, the result of the action
echoes to the MATLAB Command Window when the action executes during
simulation. Use this echoing option as a debugging tool.
6 Enter the remaining actions in the Action Table, as shown:

25-33
25 Truth Table Functions for Decision-Making Logic

25-34
 Program a Truth Table

If action A1 executes during simulation, a plot of the values vector appears:

Now you are ready to assign actions to decisions, as described in Assign Truth Table
Actions to Decisions on page 25-36.

25-35
25 Truth Table Functions for Decision-Making Logic

Assign Truth Table Actions to Decisions

You must assign at least one action from the Action Table to each decision in the
Condition Table. The truth table uses this association to determine what action to
execute when a decision tests as true.

Rules for Assigning Actions to Decisions

The following rules apply when you assign actions to decisions in a truth table:

You specify actions for decisions by entering a row number or a label in the Actions
row cell of a decision column.

If you use a label specifier, the label must appear with the action in the Action
Table.
You must specify at least one action for each decision.

Actions for decisions are not optional. Each decision must have at least one action
specifier that points to an action in the Action Table. If you want to specify no action
for a decision, specify a row that contains no action statements.
You can specify multiple actions for a decision with multiple specifiers separated by a
comma, semicolon, or space.

For example, for the decision column D1, you can specify A1,A2,A3 or 1;2;3 to
execute the first three actions when decision D1 is true.
You can mix row number and label action specifiers interchangeably in any order.

The following example uses both row and label action specifiers.

25-36
Program a Truth Table

25-37
25 Truth Table Functions for Decision-Making Logic

You can specify the same action for more than one decision, as shown:

Row number action specifiers in the Actions row of the Condition Table
automatically adjust to changes in the row order of the Action Table.

25-38
 Program a Truth Table

How to Assign Actions to Decisions

This section describes how to assign actions to decisions in the truth table ttable. In
this example, the Actions row cell for each decision column contains a label specified for
each action in the Action Table. Follow these steps:

1 Click the bottom cell in decision column D1, the first cell of the Actions row of the
Condition Table.
2 Enter the action specifier A1 for decision column D1.

When D1 is true, action A1 in the Action Table executes.

3 Enter the action specifiers for the remaining decision columns:

25-39
25 Truth Table Functions for Decision-Making Logic

25-40
 Program a Truth Table

Now you are ready to perform the final step in programming a truth table, Add Initial
and Final Actions on page 25-41.

Add Initial and Final Actions

In addition to actions for decisions, you can add initial and final actions to the truth table
function. Initial actions specify an action that executes before any decision testing occurs.
Final actions specify an action that executes as the last action before the truth table
exits. To specify initial and final actions for a truth table, use the action labels INIT and
FINAL in the Action Table.

Use this procedure to add initial and final actions that display diagnostic messages in the
MATLAB Command Window before and after execution of the truth table ttable:

1 In the Truth Table Editor, right-click row 1 of the Action Table and select Insert
Row.

A blank row appears at the top of the Action Table.

2 Select Edit > Append Row.

A blank row appears at the bottom of the Action Table.

3 Click and drag the bottom border of the Truth Table Editor to show all six rows of
the Action Table:

25-41
25 Truth Table Functions for Decision-Making Logic

25-42
 Program a Truth Table

4 Add the initial action in row 1 as follows:

Truth Table Type Description Action

C Initial action: INIT:

Display message ml.disp('truth table ttable

entered');
MATLAB Initial action: INIT:

Display message coder.extrinsic('disp');

disp('truth table ttable

entered');
5 Add the final action in row 6 as follows:

Truth Table Type Description Action

C Final action: FINAL:

Display message ml.disp('truth table ttable

exited');
MATLAB Final action: FINAL:

Display message coder.extrinsic('disp');

disp('truth table ttable

exited');

Although the initial and final actions for the preceding truth table example appear in
the first and last rows of the Action Table, you can enter these actions in any row. You
can also assign initial and final actions to decisions by using the action specifier INIT or
FINAL in the Actions row of the Condition Table.

25-43
25 Truth Table Functions for Decision-Making Logic

Debug a Truth Table

In this section...
Check Truth Tables for Errors on page 25-44
Debug a Truth Table During Simulation on page 25-44

Check Truth Tables for Errors

Once you completely specify your truth tables, you begin the process of debugging them.
The first step is to run diagnostics to check truth tables for syntax errors including
overspecification and underspecification, as described in Correct Overspecified and
Underspecified Truth Tables on page 25-60.

To check for syntax errors:

1 Double-click the truth table to open its editor.

2 In the Truth Table Editor, select Settings > Run Diagnostics.

For example, if you change the action for decision column D4 to an action that does
not exist, you get an error message in the Diagnostic Viewer.

Truth table diagnostics run automatically when you start simulation of the model with a
new or modified truth table. If no errors exist, the diagnostic window does not appear and
simulation starts immediately.

Debug a Truth Table During Simulation

Ways to debug truth tables during simulation include:

Method Type of Truth Tables How To Do It

Use Stateflow debugging C truth table See Use Stateflow
tools to step through each Debugging Tools on page
condition and action, and 25-45.
monitor data values during
simulation.

25-44
 Debug a Truth Table

Method Type of Truth Tables How To Do It

Use MATLAB debugging MATLAB truth table See Use MATLAB
tools to step through Debugging Tools on page
generated code for the truth 25-59.
table.

Use Stateflow Debugging Tools

When you use Stateflow debugging tools to debug truth tables, you must perform these
tasks:

1 Specify a breakpoint for the call to the truth table.

2 Step through the conditions and actions.

Specify a Breakpoint for the Call to a Truth Table

Before you debug the truth table during simulation, you must set a breakpoint for the
truth table. This breakpoint pauses execution during simulation so that you can debug
each execution step of a truth table.

1 In the chart, right-click the function box for the truth table.
2 Select Set Breakpoint During Function Call.

A breakpoint occurs when the chart calls this truth table function during simulation.

Step Through Conditions and Actions of a Truth Table

After setting a breakpoint for the truth table function call, you can step through
conditions and actions:

1 Begin simulation of your model.

2 Wait until the breakpoint for the call to the truth table occurs. Stateflow generates
the graphical function for the truth table.
3 Add truth table data to the Watch Data tab of the Stateflow Breakpoints and Watch
window. From the Model Explorer, select each data. On the Data Properties dialog
box. select Add to watch window.
4
Click Step In, , twice to advance simulation through the call to the truth table.

The INIT action of the truth table highlights prior to execution.

25-45
25 Truth Table Functions for Decision-Making Logic

25-46
 Debug a Truth Table

5 Click Step In to execute the INIT action and advance truth table execution to the
first condition.

25-47
25 Truth Table Functions for Decision-Making Logic

25-48
 Debug a Truth Table

6 Click Step In to evaluate the first condition and advance truth table execution to the
second condition.

25-49
25 Truth Table Functions for Decision-Making Logic

25-50
 Debug a Truth Table

7 Click Step In to evaluate the second condition and advance truth table execution to
the third condition.

25-51
25 Truth Table Functions for Decision-Making Logic

25-52
 Debug a Truth Table

8 Click Step In to evaluate the third condition and advance truth table execution to the
first decision.

25-53
25 Truth Table Functions for Decision-Making Logic

25-54
 Debug a Truth Table

9 Click Step In twice.

Because the first decision is true, truth table execution advances to its action A1.

25-55
25 Truth Table Functions for Decision-Making Logic

25-56
 Debug a Truth Table

10 Click Step In four times to execute action A1 and advance to the FINAL action.

25-57
25 Truth Table Functions for Decision-Making Logic

25-58
 Debug a Truth Table

11 Click Step In.

This step executes the final action and exits the truth table. The Display block in the
model displays the number 1.

Use MATLAB Debugging Tools

MATLAB truth tables generate content as MATLAB code, a format that offers
advantages for debugging. You can set breakpoints on any line of generated code
(whereas you cannot set breakpoints directly on a truth table). You can debug code that
MATLAB truth tables generate the same way you debug a MATLAB function.

For more information about how to generate content for truth tables, see How Stateflow
Generates Content for Truth Tables on page 25-69.

25-59
25 Truth Table Functions for Decision-Making Logic

Correct Overspecified and Underspecified Truth Tables

In this section...
Example of an Overspecified Truth Table on page 25-60
Example of an Underspecified Truth Table on page 25-64

Example of an Overspecified Truth Table

An overspecified truth table contains at least one decision that never executes because a
previous decision specifies it in the Condition Table. The following example shows the
Condition Table of an overspecified truth table.

25-60
Correct Overspecified and Underspecified Truth Tables

25-61
25 Truth Table Functions for Decision-Making Logic

The decision in column D3 (-TT) specifies the decisions FTT and TTT. These decisions
are duplicates of decisions D1 (FTT) and D2 (TTT and TFT). Therefore, column D3 is an
overspecification.

The following example shows the Condition Table of a truth table that appears to be
overspecified, but is not.

25-62
Correct Overspecified and Underspecified Truth Tables

25-63
25 Truth Table Functions for Decision-Making Logic

In this case, the decision D4 specifies two decisions (TTT and FTT). FTT also appears
in decision D1, but TTT is not a duplicate. Therefore, this Condition Table is not
overspecified.

Example of an Underspecified Truth Table

An underspecified truth table lacks one or more possible decisions that require an action
to avoid undefined behavior. The following example shows the Condition Table of an
underspecified truth table.

25-64
Correct Overspecified and Underspecified Truth Tables

25-65
25 Truth Table Functions for Decision-Making Logic

Complete coverage of the conditions in the preceding truth table requires a Condition
Table with every possible decision:

A possible workaround is to specify an action for all other possible decisions through a
default decision, named DA:

25-66
Correct Overspecified and Underspecified Truth Tables

25-67
25 Truth Table Functions for Decision-Making Logic

The last decision column is the default decision for the truth table. The default decision
covers any remaining decisions not tested in the preceding decision columns. See The
Default Decision Column on page 25-26 for an example and more complete description of
the default decision column for a Condition Table.

25-68
 How Stateflow Generates Content for Truth Tables

How Stateflow Generates Content for Truth Tables

In this section...
Types of Generated Content on page 25-69
View Generated Content on page 25-69
How Stateflow Software Generates Graphical Functions for Truth Tables on page
25-69
How Stateflow Software Generates MATLAB Code for Truth Tables on page 25-73

Types of Generated Content

Stateflow software realizes the logical behavior specified in a truth table by generating
content as follows:
Type of Truth Table Generated Content
C Graphical function
MATLAB MATLAB code

View Generated Content

You generate content for a truth table when you simulate your model. Content
regenerates whenever a truth table changes. To view the generated content of a truth
table, follow these steps:

1 Simulate the model that contains the truth table.

2 Double-click the truth table to open its editor.
3 Click the View Generated Content button:

How Stateflow Software Generates Graphical Functions for Truth Tables

This section describes how Stateflow software translates the logic of a C truth table into
a graphical function.

In the following example, a C truth table has three conditions, four decisions and actions,
and initial and final actions.

25-69
25 Truth Table Functions for Decision-Making Logic

25-70
 How Stateflow Generates Content for Truth Tables

Stateflow software generates a graphical function for the preceding truth table. The top
half of the flow chart looks like this:

The top half of the flow chart executes as follows:

Performs initial actions

Evaluates the conditions and stores the results in temporary data variables

The temporary data for storing conditions is based on the labels that you enter for the
conditions. If you do not specify the labels, temporary data variables appear.

The bottom half of the flow chart looks like this:

25-71
25 Truth Table Functions for Decision-Making Logic

In the bottom half of the flow chart, the stored values for conditions determine which
decision is true and what action to perform. Each decision appears as a fork from a
connective junction with one of two possible paths:

A transition segment with a decision followed by a segment with the consequent

action

The action appears as a condition action that leads to the FINAL action and
termination of the flow chart.

25-72
 How Stateflow Generates Content for Truth Tables

A transition segment that flows to the next fork for an evaluation of the next decision

This transition segment has no condition or action.

This implementation continues from the first decision through the remaining decisions
in left-to-right column order. When a decision match occurs, the action for that decision
executes as a condition action of its transition segment. After the action executes, the
flow chart performs the final action for the truth table and terminates. Therefore, only
one action results from a call to a truth table graphical function. This behavior also
means that no data dependencies are possible between different decisions.

How Stateflow Software Generates MATLAB Code for Truth Tables

Stateflow software generates the content of MATLAB truth tables as MATLAB code that
represents each action as a nested function inside the main truth table function.

Nested functions offer these advantages:

Nested functions are independent of one another. Variables are local to each function
and not subject to naming conflicts.
Nested functions can access all data from the main truth table function.

The generated content appears in the function editor, which provides tools for simulation
and debugging.

Here is the generated content for the MATLAB truth table described in Program Actions
Using MATLAB Expressions on page 25-32:

Main truth table function

function t = ttable(x,y,z)

% Initialize condition vars to logical scalar

XEQ1 = false;
YEQ1 = false;
ZEQ1 = false;

% Condition #1, "XEQ1"

% x is equal to 1
XEQ1 = logical(x == 1);

% Condition #2, "YEQ1"

25-73
25 Truth Table Functions for Decision-Making Logic

% y is equal to 1
YEQ1 = logical(y == 1);

% Condition #3, "ZEQ1"

% z is equal to 1
ZEQ1 = logical(z == 1);

if (XEQ1 && ~YEQ1 && ~ZEQ1) % D1

A1();
elseif (~XEQ1 && YEQ1 && ~ZEQ1) % D2
A2();
elseif (~XEQ1 && ~YEQ1 && ZEQ1) % D3
A3();
else % Default
A4();
end
Action A1

function A1()
% Action #1, "A1"
% Maintain a counter and a circular vector of length 6.
% Every time this action is called,
% output t takes the next value of the vector.

persistent values counter;

cycle = 6;

if isempty(counter)
% Initialize counter to be zero
counter = 0;
else
% Otherwise, increment counter
counter = counter + 1;
end

if isempty(values)
% Values is a vector of 1 to cycle
values = zeros(1, cycle);
for i = 1:cycle
values(i) = i;
end

% For debugging purposes, call the MATLAB

% function "plot" to show values

25-74
 How Stateflow Generates Content for Truth Tables

plot(values);
end

% Output t takes the next value in values vector

t = values( mod(counter, cycle) + 1);
Actions A2, A3, and A4

function A2()
% Action #2, "A2"
% set t to 2

t=2;

%==================================
function A3()
% Action #3, "A3"
% set t to 3

t=3;

%==================================
function A4()
% Action #4, "A4"
% set t to 4

t=4;

25-75
25 Truth Table Functions for Decision-Making Logic

Truth Table Editor Operations

In this section...
Add or Modify Stateflow Data on page 25-76
Append Rows and Columns on page 25-76
Compact the Table on page 25-76
Delete Text, Rows, and Columns on page 25-77
Diagnose the Truth Table on page 25-77
View Generated Content on page 25-77
Edit Tables on page 25-77
Insert Rows and Columns on page 25-78
Move Rows and Columns on page 25-78
Print Tables on page 25-78
Select and Deselect Table Elements on page 25-79
Undo and Redo Edit Operations on page 25-79
View the Stateflow Chart for the Truth Table on page 25-79

Add or Modify Stateflow Data

Edit Data/Ports opens the Model Explorer so that you can add or modify
Stateflow data.

Append Rows and Columns

Append Column adds a column on the right end of the selected table.

Append Row adds a row to the bottom of the selected table.

Compact the Table

Compact Table removes the empty rows and columns of the selected table.

25-76
 Truth Table Editor Operations

Delete Text, Rows, and Columns

To delete the contents of a cell:

1 Right-click the cell.

2 From the context menu, select Delete Cell.

To delete an entire row or column:

1 Right-click the row or column header.

2 From the context menu, select Delete Row or Delete Column.

You can also click the row or column header to select the entire row or column and
press the Delete key.

Diagnose the Truth Table

Run Diagnostics checks the truth table for syntax errors. See Debug a
Truth Table on page 25-44.

View Generated Content

View Generated Content displays the code generated for the truth table.
C truth tables generate graphical functions. MATLAB truth tables generate
MATLAB code. For details, see How Stateflow Generates Content for Truth
Tables on page 25-69.

Edit Tables
Both the default Condition Table and the default Action Table have one empty
row. Click a cell to edit its text contents. Use Tab and Shift+Tab to move horizontally
between cells. To add rows and columns to either table, see Append Rows and Columns
on page 25-76.

You set the Truth Table Editor to display only one of the two tables by double-clicking
the header of the table to display. To revert to the display of both tables, double-click the
header of the displayed table.

25-77
25 Truth Table Functions for Decision-Making Logic

Cells for the numbered rows in decision columns like D1 can take values of T, F, or -.
After you select one of these cells, you can use the spacebar to step through the T, F, and
- values. In these cells you can use the left, right, up, and down arrow keys to advance to
another cell in any direction.

Insert Rows and Columns

To insert a blank row above an existing table row:

1 Right-click any cell in the row (including the row header).

2 From the context menu, select Insert Row.

To insert a blank decision column to the left of an existing decision column:

1 Right-click any cell in the existing decision column (including the column header).
2 From the context menu, select Insert Column.

Move Rows and Columns

To move a condition or action row up or down:

1 Click the row header to select the row.

2 Drag the row to a new position.

The Truth Table Editor renumbers the rows automatically.

To move a decision column left or right:

1 Click the column header to select the column.

2 Drag the column to a new position.

The Truth Table Editor renumbers the decision columns automatically.

Print Tables

Print makes a printed copy or an online viewable copy (HTML file) of the
truth table.

25-78
 Truth Table Editor Operations

Select and Deselect Table Elements

To... Perform this action...
Select a cell for editing Click the cell
Select text in a cell Click and drag your pointer over the text
Select a row Click the header for the row
Select a decision column in the Condition Click the header for the column
Table
Deselect a selected cell, row, or column Press Esc or click another table, cell, row,
or column

Undo and Redo Edit Operations

Click the Undo button or press Ctrl+Z (Command+Z) to undo the effects
of the preceding operation.
Click the Redo button or press Ctrl+Y (Command+Y) to redo the most
recently undone operation.

View the Stateflow Chart for the Truth Table

Go to Diagram Editor displays the current truth table function in its
native chart.

25-79
 26

MATLAB Functions in Stateflow Charts

MATLAB Functions in a Chart on page 26-2

Why Use a MATLAB Function in a Chart? on page 26-3
Where to Use a MATLAB Function on page 26-4
MATLAB Functions in a Stateflow Chart on page 26-5
Build Model with MATLAB Function in a Chart on page 26-7
Specify MATLAB Function Properties in a Chart on page 26-12
Program a MATLAB Function in a Chart on page 26-17
Debug a MATLAB Function in a Chart on page 26-20
Connect Structures in MATLAB Functions to Bus Signals in Simulink on page
26-24
Define Enumerated Data in MATLAB Functions on page 26-27
Declare Variable-Size Data in MATLAB Functions on page 26-28
Enhance Readability of Generated Code for MATLAB Functions on page 26-29
26 MATLAB Functions in Stateflow Charts

MATLAB Functions in a Chart

A MATLAB function in a Stateflow chart is a graphical element you use to write
algorithms that are easier to perform by calling built-in MATLAB functions. Typical
applications include:

Matrix-oriented calculations
Data analysis and visualization

26-2
 Why Use a MATLAB Function in a Chart?

Why Use a MATLAB Function in a Chart?

This type of function is useful for coding algorithms that are more easily expressed
using MATLAB instead of the graphical Stateflow constructs. This function also
provides optimizations for generating efficient, production-quality C code for embedded
applications.

26-3
26 MATLAB Functions in Stateflow Charts

Where to Use a MATLAB Function

A MATLAB function can reside anywhere in a chart, state, or subchart. The location of
a function determines its scope, that is, the set of states and transitions that can call the
function. Follow these guidelines:

If you want to call the function only within one state or subchart and its substates,
put your MATLAB function in that state or subchart. That function overrides any
other functions of the same name in the parents and ancestors of that state or
subchart.
If you want to call the function anywhere in that chart, put your MATLAB function at
the chart level.

26-4
 MATLAB Functions in a Stateflow Chart

MATLAB Functions in a Stateflow Chart

The following model contains a Stateflow chart with a MATLAB function.

The chart contains the following logic:

The function contains the following code:

function stats(vals)
%#codegen

% calculates a statistical mean and standard deviation

% for the values in vals.

len = length(vals);
mean = avg(vals, len);
stdev = sqrt(sum(((vals-avg(vals,len)).^2))/len);
coder.extrinsic('plot');
plot(vals,'-+');

function mean = avg(array,size)

mean = sum(array)/size;

Note in this example that the MATLAB function can call any of these types of functions:

Local functions

26-5
26 MATLAB Functions in Stateflow Charts

Local functions are defined in the body of the MATLAB function. In this example, avg
is a local function.
Stateflow functions

Graphical, truth table, and other MATLAB functions can be called from a MATLAB
function in a chart.
MATLAB toolbox functions that support code generation

Toolbox functions for code generation are a subset of the functions that you can call
in the MATLAB workspace. These functions generate C code for building targets
that conform to the memory and data type requirements of embedded environments.
In this example, length, sqrt, and sum are examples of toolbox functions for code
generation.
MATLAB toolbox functions that do not support code generation

You can also call extrinsic functions on the MATLAB path that do not generate code.
These functions execute only in the MATLAB workspace during simulation of the
model.
Simulink Design Verifier functions

Simulink Design Verifier software provides MATLAB functions for property proving
and test generation.

sldv.prove
sldv.assume
sldv.test
sldv.condition

26-6
 Build Model with MATLAB Function in a Chart

Build Model with MATLAB Function in a Chart

This section explains how to create a model with a Stateflow chart that calls two
MATLAB functions, meanstats and stdevstats. meanstats calculates a mean and
stdevstats calculates a standard deviation for the values in vals and outputs them to
the Stateflow data mean and stdev, respectively.

Follow these steps:

1 Create a new model with the following blocks:

2 Save the model as call_stats_function_stateflow.

3 In the model, double-click the Chart block.
4 Drag two MATLAB functions into the empty chart using this icon from the toolbar:

A text field with a flashing cursor appears in the middle of each MATLAB function.
5 Label each function as shown:

26-7
26 MATLAB Functions in Stateflow Charts

You must label a MATLAB function with its signature. Use the following syntax:

[return_val1, return_val2,...] = function_name(arg1, arg2,...)

You can specify multiple return values and multiple input arguments, as shown in
the syntax. Each return value and input argument can be a scalar, vector, or matrix
of values.

Note: For MATLAB functions with only one return value, you can omit the brackets
in the signature label.
6 In the chart, draw a default transition into a terminating junction with this
condition action:

{
mean = meanstats(invals);
stdev = stdevstats(invals);
}

The chart should look something like this:

26-8
 Build Model with MATLAB Function in a Chart

Tip: If the formal arguments of a function signature are scalars, verify that
inputs and outputs of function calls follow the rules of scalar expansion. For more
information, see How Scalar Expansion Works for Functions on page 16-6.
7 In the chart, double-click the function meanstats to edit its function body in the
editor.
8 In the function editor, select Tools > Model Explorer to open the Model Explorer.

26-9
26 MATLAB Functions in Stateflow Charts

The function meanstats is highlighted in the Model Hierarchy pane. The

Contents pane displays the input argument vals and output argument meanout.
Both are scalars of type double by default.
9 Double-click the vals row under the Size column to set the size of vals to 4.
10 Back in the chart, double-click the function stdevstats and repeat the previous
two steps.
11 Back in the Model Hierarchy pane of the Model Explorer, select Chart and add the
following data:

Name Scope Size

invals Input 4
mean Output Scalar (no change)
stdev Output Scalar (no change)

You should now see the following data in the Model Explorer.

After you add the data invals, mean, and stdev to the chart, the corresponding
input and output ports appear on the Stateflow block in the model.

26-10
 Build Model with MATLAB Function in a Chart

12 Connect the Constant and Display blocks to the ports of the Chart block and save the
model.

To program the functions meanstats and stdevstats, see Program a MATLAB

Function in a Chart on page 26-17.

26-11
26 MATLAB Functions in Stateflow Charts

Specify MATLAB Function Properties in a Chart

Set MATLAB Function Properties

To specify properties for a MATLAB function in a Stateflow chart:

1 In the Stateflow chart, right click the MATLAB function.

2 Select Properties.

In the dialog box that appears, there are tabs for both General and Documentation
Properties.

26-12
Specify MATLAB Function Properties in a Chart

26-13
26 MATLAB Functions in Stateflow Charts

26-14
 Specify MATLAB Function Properties in a Chart

3 Specify properties for the MATLAB function.

Field Description
Name MATLAB function read only name. Click the link to
open the function contents in the MATLAB editor.
Function Inline Option Determine whether the function is inlined in the
generated code by choosing one of the following
options:

If set to Auto internal heuristics are used to

determine whether or not to inline the MATLAB
function.
If set to Inline inlining of the function is forced.
If set to Function inlining of the function is
prevented.
Saturate on integer Select to specify that integer overflows saturate in the
overflow generated code. For more information, see Handle
Integer Overflow for Chart Data on page 8-49.

26-15
26 MATLAB Functions in Stateflow Charts

Field Description
MATLAB Function Setting defines the fimath properties for the
fimath MATLAB function. The fimath properties specified
here are associated with all fi and fimath objects
constructed in the MATLAB function. Choose one of
the following options:

If set to Same as MATLAB, the function uses

the same fimath properties as the current global
fimath. The edit box appears dimmed and displays
the current global fimath in read-only form.
For more information on the global fimath and
fimath objects, see the Fixed-Point Designer
documentation.
If set to Specify Other, you can specify your own
fimath object. This can be done by either of these
two methods:

a Construct the fimath inside the edit box.

b Construct the fimath object in the MATLAB
or model workspace and enter its variable
name in the edit box.
Label Text defining the label of the MATLAB function in the
Stateflow chart.
Description Textual description/comment.
Document link Link to documentation about the MATLAB
function. Enter a Web URL address or a MATLAB
expression that, when evaluated, displays
documentation . Examples are www.mathworks.com
, mailto:email_address and edit /spec/data/
speed.txt.
4 Click Apply.

26-16
 Program a MATLAB Function in a Chart

Program a MATLAB Function in a Chart

To program the functions meanstats and stdevstats that you created in Build Model
with MATLAB Function in a Chart on page 26-7, follow these steps:

1 Open the chart in the model call_stats_function_stateflow.

2 In the chart, open the function meanstats.

The function editor appears with the header:

function meanout = meanstats(vals)

This header is taken from the function label in the chart. You can edit the header
directly in the editor, and your changes appear in the chart after you close the editor.
3 On the line after the function header, enter:
%#codegen

The %#codegen compilation directive helps detect compile-time violations of syntax

and semantics in MATLAB functions supported for code generation.
4 Enter a line space and this comment:
% Calculates the statistical mean for vals
5 Add the line:
len = length(vals);

The function length is an example of a built-in MATLAB function that is supported

for code generation. You can call this function directly to return the vector length
of its argument vals. When you build a simulation target, the function length is
implemented with generated C code. Functions supported for code generation appear
in Functions and Objects Supported for C/C++ Code Generation Alphabetical
List (MATLAB Coder).

The variable len is an example of implicitly declared local data. It has the same size
and type as the value assigned to it the value returned by the function length, a
scalar double. To learn more about declaring variables, see Data Definition Basics
(MATLAB Coder).

The MATLAB function treats implicitly declared local data as temporary data, which
exists only when the function is called and disappears when the function exits. You

26-17
26 MATLAB Functions in Stateflow Charts

can declare local data for a MATLAB function in a chart to be persistent by using the
persistent construct.
6 Enter this line to calculate the value of meanout:

meanout = avg(vals,len);

The function meanstats stores the mean of vals in the Stateflow data meanout.
Because these data are defined for the parent Stateflow chart, you can use them
directly in the MATLAB function.

Two-dimensional arrays with a single row or column of elements are treated

as vectors or matrices in MATLAB functions. For example, in meanstats, the
argument vals is a four-element vector. You can access the fourth element of this
vector with the matrix notation vals(4,1) or the vector notation vals(4).

The MATLAB function uses the functions avg and sum to compute the value of mean.
sum is a function supported for code generation. avg is a local function that you
define later. When resolving function names, MATLAB functions in your chart look
for local functions first, followed by functions supported for code generation.

Note: If you call a function that the MATLAB function cannot resolve as a local
function or a function for code generation, you must declare the function to be
extrinsic.
7 Now enter this statement:

coder.extrinsic('plot');
8 Enter this line to plot the input values in vals against their vector index.

plot(vals,'-+');

Recall that you declared plot to be an extrinsic function because it is not supported
for code generation. When the MATLAB function encounters an extrinsic function, it
sends the call to the MATLAB workspace for execution during simulation.
9 Now, define the local function avg, as follows:

function mean = avg(array,size)

mean = sum(array)/size;

26-18
 Program a MATLAB Function in a Chart

The header for avg defines two arguments, array and size, and a single return
value, mean. The local function avg calculates the average of the elements in array
by dividing their sum by the value of argument size.

The complete code for the function meanstats looks like this:

function meanout = meanstats(vals)

%#codegen

% Calculates the statistical mean for vals

len = length(vals);
meanout = avg(vals,len);

coder.extrinsic('plot');
plot(vals,'-+');

function mean = avg(array,size)

mean = sum(array)/size;
10 Save the model.
11 Back in the chart, open the function stdevstats and add code to compute the
standard deviation of the values in vals. The complete code should look like this:

function stdevout = stdevstats(vals)

%#codegen

% Calculates the standard deviation for vals

len = length(vals);
stdevout = sqrt(sum(((vals-avg(vals,len)).^2))/len);

function mean = avg(array,size)

mean = sum(array)/size;
12 Save the model again.

26-19
26 MATLAB Functions in Stateflow Charts

Debug a MATLAB Function in a Chart

In this section...
Check MATLAB Functions for Syntax Errors on page 26-20
Run-Time Debugging for MATLAB Functions in Charts on page 26-21
Check for Data Range Violations on page 26-23

Check MATLAB Functions for Syntax Errors

Before you can build a simulation application for a model, you must fix syntax errors.
Follow these steps to check the MATLAB function meanstats for syntax violations:

1 Open the function meanstats inside the chart in the

call_stats_function_stateflow model that you updated in Program a
MATLAB Function in a Chart on page 26-17.

The editor automatically checks your function code for errors and recommends
corrections.
2 In the Stateflow Editor, select Code > C/C++ Code > Build Model.

If there are no errors or warnings, the Builder window appears and reports success.
Otherwise, it lists errors. For example, if you change the name of local function avg
to a nonexistent local function aug in meanstats, errors appear in the Diagnostic
Viewer.
3 The diagnostic message provides details of the type of error and a link to the
code where the error occurred. The diagnostic message also contains a link to a
diagnostic report that provides links to your MATLAB functions and compile-time
type information for the variables and expressions in these functions. If your model
fails to build, this information simplifies finding sources of error messages and aids
understanding of type propagation rules. For more information about this report, see
MATLAB Function Reports (Simulink).
4 In the diagnostic message, click the link after the function name meanstats to
display the offending line of code.

The offending line appears highlighted in the editor.

5 Correct the error by changing aug back to avg and recompile. No errors are found
and the compile completes successfully.

26-20
 Debug a MATLAB Function in a Chart

Run-Time Debugging for MATLAB Functions in Charts

You use simulation to test your MATLAB functions for run-time errors that are not
detectable by Stateflow. When you simulate your model, your MATLAB functions
undergo diagnostic tests for missing or undefined information and possible logical
conflicts as described in Check MATLAB Functions for Syntax Errors on page
26-20. If no errors are found, the simulation of your model begins.

Follow these steps to simulate and debug the meanstats function during run-time
conditions:

1 In the function editor, click the dash (-) character in the left margin of this line:

len = length(vals);

A small red ball appears in the margin of this line, indicating that you have set a
breakpoint.
2 Start simulation for the model.

If you get any errors or warnings, make corrections before you try to simulate again.
Otherwise, simulation pauses when execution reaches the breakpoint you set. A
small green arrow in the left margin indicates this pause.
3 To advance execution to the next line, select Step.

Notice that this line calls the local function avg. If you select Step here, execution
advances past the execution of the local function avg. To track execution of the lines
in the local function avg, select Step In instead.
4 To advance execution to the first line of the called local function avg, select Step In.

Once you are in the local function, you can advance through one line at a time with
the Step tool. If the local function calls another local function, use the Step In tool
to step into it. To continue through the remaining lines of the local function and go
back to the line after the local function call, select Step Out.
5 Select Step to execute the only line in avg.

When avg finishes its execution, you see a green arrow pointing down under its last
line.
6 Select Step to return to the function meanstats.

Execution advances to the line after the call to avg.

26-21
26 MATLAB Functions in Stateflow Charts

7 To display the value of the variable len, place your pointer over the text len in the
function editor for at least a second.

The value of len appears adjacent to your pointer.

You can display the value for any data in the MATLAB function in this way, no
matter where it appears in the function. For example, you can display the values
for the vector vals by placing your pointer over it as an argument to the function
length, or as an argument in the function header.

You can also report the values for MATLAB function data in the MATLAB Command
Window during simulation. When you reach a breakpoint, the debug>> command
prompt appears in the MATLAB Command Window (you might have to press Enter
to see it). At this prompt, you can inspect data defined for the function by entering
the name of the data, as shown in this example:

debug>> len
len =
4
debug>>

As another debugging alternative, you can display the execution result of a function
line by omitting the terminating semicolon. If you do, execution results appear in the
MATLAB Command Window during simulation.
8 To leave the function until it is called again and the breakpoint is reached, select
Continue.

At any point in a function, you can advance through the execution of the remaining
lines of the function with the Continue tool. If you are at the end of the function,
selecting Step does the same thing.
9 Click the breakpoint to remove it and select Quit Debugging to complete the
simulation.

In the model, the computed values of mean and stdev now appear in the Display
blocks.

26-22
 Debug a MATLAB Function in a Chart

Check for Data Range Violations

To control data range checking, set Simulation range checking in the Diagnostics:
Data Validity pane of the Model Configuration Parameters dialog box.

Specify a Range

To specify a range for input and output data, follow these steps:

1 In the Model Explorer, select the MATLAB function input or output of interest.

The Data properties dialog box opens in the Dialog pane of the Model Explorer.
2 In the Data properties dialog box, click the General tab and enter a limit range, as
described in Limit range properties on page 8-11.

26-23
26 MATLAB Functions in Stateflow Charts

Connect Structures in MATLAB Functions to Bus Signals in Simulink

In this section...
About Structures in MATLAB Functions on page 26-24
Define Structures in MATLAB Functions on page 26-24

About Structures in MATLAB Functions

MATLAB functions support MATLAB structures. You can create structures in top-level
MATLAB functions in Stateflow charts to interface with Simulink bus signals at input
and output ports. Simulink buses appear inside the MATLAB function as structures;
structure outputs from the MATLAB function appear as buses.

You can also create structures as local and persistent variables in top-level functions and
local functions of MATLAB functions.

Define Structures in MATLAB Functions

This section describes how to define structures in MATLAB functions.

Rules for Defining Structures in MATLAB Functions on page 26-24

Define Structure Inputs and Outputs to Interface with Bus Signals on page
26-25
Define Local and Persistent Structure Variables on page 26-26

Rules for Defining Structures in MATLAB Functions

Follow these rules when defining structures for MATLAB functions in Stateflow charts:

For each structure input or output in a MATLAB function, you must define a
Simulink.Bus object in the base workspace to specify its type to the Simulink signal.
MATLAB structures cannot inherit their type from Simulink signals.
MATLAB functions support nonvirtual buses only (see Virtual and Nonvirtual
Buses (Simulink)).
Structures cannot have scopes defined as Constant.

26-24
 Connect Structures in MATLAB Functions to Bus Signals in Simulink

Define Structure Inputs and Outputs to Interface with Bus Signals

When you create structure inputs in MATLAB functions, the function determines
the type, size, and complexity of the structure from the Simulink input signal. When
you create structure outputs, you must define their type, size, and complexity in the
MATLAB function.

You can connect MATLAB structure inputs and outputs to any Simulink bus signal,
including:

Simulink blocks that output bus signals such as Bus Creator blocks
Simulink blocks that accept bus signals as input such as Bus Selector and Gain
blocks
S-Function blocks
Other MATLAB functions

To define structure inputs and outputs for MATLAB functions in Stateflow charts, follow
these steps:

1 Create a Simulink bus object in the base workspace to specify the properties of the
structure you will create in the MATLAB function.

For information about how to create Simulink bus objects, see Create Bus Objects
with the Bus Editor (Simulink).
2 Open the Model Explorer and follow these steps:

a In the Model Hierarchy pane, select the MATLAB function in your chart.
b Add a data object, as described in Add Data Through the Model Explorer on
page 8-3.

The Model Explorer adds a data object and opens a Properties dialog box in its
right-hand Dialog pane.
c In the Properties dialog box, enter the following information in the General tab
fields:

Field What to Specify

Name Enter a name for referencing the structure in the MATLAB
function. This name does not have to match the name of the bus
object in the base workspace.

26-25
26 MATLAB Functions in Stateflow Charts

Field What to Specify

Scope Select Input or Output.
Type Select Bus: <bus object name> from the drop-down list.

Then, replace <bus object name> with the name of the

Simulink.Bus object in the base workspace that defines the
structure. For example: Bus: inbus.
d To add or modify Simulink.Bus objects, open the Data Type Assistant. Then,
click the Edit button to open the Simulink Bus Editor (see Create Bus Objects
with the Bus Editor (Simulink)).
e Click Apply.
3 If your structure is an output (has scope of Output), define the output implicitly
in the MATLAB function to have the same type, size, and complexity as its
Simulink.Bus object. For details, see Structures (MATLAB Coder).

Define Local and Persistent Structure Variables

You can define structures as local or persistent variables inside MATLAB functions. For
details, see Structures (MATLAB Coder).

26-26
 Define Enumerated Data in MATLAB Functions

Define Enumerated Data in MATLAB Functions

Define and use enumerated data with MATLAB functions in Stateflow charts the
same way as in MATLAB Function blocks in a model. For more information, see Code
Generation for Enumerations (Simulink).

To learn how to define and use enumerated data in Stateflow charts, see Define
Enumerated Data in a Chart on page 18-8.

26-27
26 MATLAB Functions in Stateflow Charts

Declare Variable-Size Data in MATLAB Functions

Declare and use variable-size matrices and arrays with MATLAB functions in Stateflow
charts the same way as in MATLAB Function blocks in a model. For more information,
see:

Control Support for Variable-Size Arrays in a MATLAB Function Block (Simulink)

Declare Variable-Size Inputs and Outputs (Simulink)
Use a Variable-Size Signal in a Filtering Algorithm (Simulink)

To learn how to declare variable-size data at the chart level, see Declare Variable-Size
Inputs and Outputs on page 17-5.

26-28
 Enhance Readability of Generated Code for MATLAB Functions

Enhance Readability of Generated Code for MATLAB Functions

You can enhance the readability of generated code for MATLAB functions in Stateflow
charts the same way as in MATLAB Function blocks in a model. For more information,
see Enhance Code Readability for MATLAB Function Blocks (Simulink).

26-29
 27

Simulink Functions in Stateflow Charts

Simulink Functions in Stateflow on page 27-2

Share Functions Across Simulink and Stateflow on page 27-6
Why Use a Simulink Function in a Stateflow Chart? on page 27-8
Basic Approach to Defining Simulink Functions in Stateflow Charts on page
27-15
How a Simulink Function Binds to a State on page 27-18
How a Simulink Function Behaves When Called from Multiple Sites on page
27-26
Define a Function That Uses Simulink Blocks on page 27-27
Schedule Execution of Multiple Controllers on page 27-36
27 Simulink Functions in Stateflow Charts

Simulink Functions in Stateflow

In this section...
What Is a Simulink Function? on page 27-2
Where to Define a Simulink Function in a Chart on page 27-2
Rules for Using Simulink Functions in Stateflow Charts on page 27-3

What Is a Simulink Function?

In a Stateflow chart, a Simulink function is a graphical object that you fill with Simulink
blocks and call in the actions of states and transitions. This function provides an efficient
model design and improves readability by minimizing graphical and nongraphical
objects. Typical applications include:

Defining a function that requires Simulink blocks, such as lookup tables (see About
Lookup Table Blocks (Simulink))
Scheduling execution of multiple controllers

You can call Simulink functions defined inside of a Stateflow chart from the same chart.
You can also call functions defined by a Simulink Function block in the model.

Where to Define a Simulink Function in a Chart

A Simulink function can reside anywhere in a chart, state, or subchart. The location of a
function determines its scope, that is, the set of states and transitions that can call the
function. Follow these guidelines:

If you want to call the function within only one state or subchart and its substates,
put your Simulink function in that state or subchart. That function overrides any
other functions of the same name in the parents and ancestors of that state or
subchart.
If you want to call the function anywhere in that chart, put your Simulink function at
the chart level.

27-2
 Simulink Functions in Stateflow

Rules for Using Simulink Functions in Stateflow Charts

Do not call Simulink functions in state during actions or transition conditions of continuous-
time charts

This rule applies to continuous-time charts because you cannot call functions during
minor time steps. You can call Simulink functions in state entry or exit actions and
transition actions. However, if you try to call Simulink functions in state during actions
or transition conditions, an error message appears when you simulate your model.

For more information, see Model Hybrid Systems with Model Logic on page 19-5.

Do not call Simulink functions in default transitions if you enable execute-at-initialization mode

If you select Execute (enter) Chart At Initialization in the Chart properties dialog
box, you cannot call Simulink functions in default transitions that execute the first time
that the chart awakens. Otherwise, an error message appears when you simulate your
model.

Use only alphanumeric characters or underscores when naming input and output ports for a
Simulink function

This rule ensures that the names of input and output ports are compatible with identifier
naming rules of Stateflow charts.

Note: Any space in a name automatically changes to an underscore.

Convert discontiguous signals to contiguous signals for Simulink functions

For Simulink functions inside a Stateflow chart, the output ports do not support
discontiguous signals. If your function contains a block that outputs a discontiguous
signal, insert a Signal Conversion block between the discontiguous output and the output
port. This action ensures that the output signal is contiguous.

Blocks that can output a discontiguous signal include the Bus Creator block and the Mux
block. For the Bus Creator block, the output is discontiguous only if you clear the Output
as nonvirtual bus check box that is, if the Bus Creator block outputs a virtual bus. If
you select Output as nonvirtual bus, the output signal is contiguous and no conversion
is necessary.

27-3
27 Simulink Functions in Stateflow Charts

For more information, see Bus Creator (Simulink), Mux (Simulink), and Signal
Conversion (Simulink).

Do not export Simulink functions

If you try to export Simulink functions, an error appears when you simulate your model.
To avoid this behavior, clear the Export Chart Level Functions check box in the Chart
properties dialog box.

Use the Stateflow Editor to rename a Simulink function

If you try to use the Model Explorer to rename a Simulink function, the change does not
appear in the chart. Edit the name in the Symbols pane or click the function box in the
Stateflow Editor to rename the function.

Do not use Simulink functions in Moore charts

This restriction prevents violations of Moore semantics during chart execution. See
Design Rules for Moore Charts on page 6-11 for more information.

Do not generate HDL code for Simulink functions

If you try to generate HDL code for charts that contain Simulink functions, an error
message appears when you simulate your model. HDL code generation does not support
Simulink functions.

Set properties of input ports explicitly for a Simulink function

The input ports of Simulink functions cannot inherit their sizes and data types. The
output ports of a Simulink Function block in Simulink cannot inherit their sizes and data
types. Therefore, you must set sizes and types explicitly when the inputs and outputs are
not scalar data of type double.

The output ports of a Simulink function defined inside a chart can inherit sizes and data
types based on connections inside the subsystem. Therefore, you can specify sizes and
types of these outputs as inherited.

Tip: To minimize updates required for changes in input port properties, you can specify
sizes and data types as parameters.

27-4
 Simulink Functions in Stateflow

Verify that function-call expressions have inputs and outputs of correct size

If the formal arguments of a function signature are scalars, verify that inputs and
outputs of function calls follow the rules of scalar expansion. For more information, see
How Scalar Expansion Works for Functions on page 16-6.

Pass arguments by value

Passing an argument to a Simulink function by reference generates a run-time error

during simulation.

See Also
Simulink Function

More About
Export Stateflow Functions for Reuse on page 7-34
Create Simulink Functions in a Simulink Model (Simulink)
Simulink Functions (Simulink)
Share Functions Across Simulink and Stateflow on page 27-6

27-5
27 Simulink Functions in Stateflow Charts

Share Functions Across Simulink and Stateflow

Communicate and Share Resources with Functions

This example shows a model calling functions across Simulink and Stateflow. The
slexPrinterExample model has three computer clients sharing a printer. Each computer
creates print jobs by calling the Simulink function addPrintJob.

In this example, the Stateflow chart communicates with the model by:

Defining and exporting a graphical function that is called by Simulink.

Calling a Simulink function that is defined in Simulink.

open_system('slexPrinterExample');

Each computer client invokes the printer server with a call to the Simulink function,
addPrintJob. The addPrintJob function calls the Stateflow graphical function
queuePrintJob to add the print job to the work load. The chart processes the work and
calls the Simulink function printerInk to model usage of printer ink.

27-6
 Share Functions Across Simulink and Stateflow

Call a Simulink Function from Stateflow

The function printerInk is defined in a Simulink Function block at the top level of
the model. The function interface printerInk(work) defines one input argument. The
Simulink Function, printerInk, also interacts with the model with signal lines through
the inport ink and outport ink'. The state Busy matches the function signature for
printerInk(work) by passing one input argument.

open_system('slexPrinterExample/Queueing and Processing Incoming Jobs')

Export Stateflow Functions to Simulink

In the chart Queuing and Processing Incoming Jobs, the properties Export Chart
Level Functions and Treat Exported Functions as Globally Visible are selected.
These properties allow the Simulink function addPrintJob to call the chart graphical
function, queuePrintJob.

See Also
Simulink Function

More About
Export Stateflow Functions for Reuse on page 7-34
Simulink Functions (Simulink)
Basic Approach to Defining Simulink Functions in Stateflow Charts on page
27-15

27-7
27 Simulink Functions in Stateflow Charts

Why Use a Simulink Function in a Stateflow Chart?

In this section...
Advantages of Using Simulink Functions in a Stateflow Chart on page 27-8
Benefits of Using a Simulink Function to Access Simulink Blocks on page 27-8
Benefits of Using a Simulink Function to Schedule Execution of Multiple Controllers
on page 27-11

Advantages of Using Simulink Functions in a Stateflow Chart

When you define a function that uses Simulink function-call subsystem blocks or
schedule execution of multiple controllers without Simulink functions, the model requires
these elements:

Simulink function-call subsystem blocks

Stateflow chart with function-call output events
Signal lines between the chart and each function-call subsystem port

Simulink functions in a Stateflow chart provide these advantages:

No function-call subsystem blocks

No output events
No signal lines

Benefits of Using a Simulink Function to Access Simulink Blocks

The sections that follow compare two ways of defining a function that uses Simulink
blocks.

Model Method Without a Simulink Function

You define a function-call subsystem in the Simulink model (see Function-Call

Subsystems (Simulink). Use an output event in a Stateflow chart to call the subsystem,
as shown.

27-8
 Why Use a Simulink Function in a Stateflow Chart?

Model Method With a Simulink Function

You place one or more Simulink blocks in a Simulink function of a Stateflow chart. Use a
function call to execute the blocks in that function, as shown.

27-9
27 Simulink Functions in Stateflow Charts

In the chart, the during action in selection_state contains a function call to

calc_th, which is a function that contains Simulink blocks.

This modeling method minimizes the objects in your model.

27-10
 Why Use a Simulink Function in a Stateflow Chart?

For more information, see Define a Function That Uses Simulink Blocks on page
27-27.

Benefits of Using a Simulink Function to Schedule Execution of Multiple

Controllers
The sections that follow compare two ways of scheduling execution of multiple
controllers.

Model Method Without Simulink Functions

You define each controller as a function-call subsystem block and use output events in a
Stateflow chart to schedule execution of the subsystems, as shown.

27-11
27 Simulink Functions in Stateflow Charts

Model Method With Simulink Functions

You define each controller as a Simulink function in a Stateflow chart and use function
calls to schedule execution of the subsystems, as shown.

27-12
 Why Use a Simulink Function in a Stateflow Chart?

This modeling method minimizes the objects in your model.

27-13
27 Simulink Functions in Stateflow Charts

More About
Benefits of Using a Simulink Function to Access Simulink Blocks on page
27-8
Benefits of Using a Simulink Function to Schedule Execution of Multiple
Controllers on page 27-11
Schedule Execution of Multiple Controllers on page 27-36

27-14
 Basic Approach to Defining Simulink Functions in Stateflow Charts

Basic Approach to Defining Simulink Functions in Stateflow Charts

In this section...
Task 1: Add a Function to the Chart on page 27-15
Task 2: Define the Subsystem Elements of the Simulink Function on page 27-16
Task 3: Configure the Function Inputs on page 27-16

Task 1: Add a Function to the Chart

Follow these steps to add a Simulink function to the chart:

1 Click the Simulink function icon in the Stateflow Editor toolbar:

2 Move your pointer to the location for the new Simulink function in your chart and
click to insert the function box.

Tip: You can also drag the function from the toolbar.
3 Enter the function signature.

The function signature specifies a name for your function and the formal names for
the arguments and return values. A signature has this syntax:

[r_1, r_2,..., r_n] = simfcn(a_1, a_2,..., a_n)

where simfcn is the name of your function, a_1, a_2, ..., a_n are formal names for
the arguments, and r_1, r_2, ..., r_n are formal names for the return values.

Note: This syntax is the same as what you use for graphical functions, truth tables,
and MATLAB functions. You can define arguments and return values as scalars,
vectors, or matrices of any data type.
4 Click outside the function box.

The following example shows a Simulink function that has the name sim_fcn, which
takes three arguments (a, b, and c) and returns two values (x and y).

27-15
27 Simulink Functions in Stateflow Charts

Note: You can also create and edit a Simulink function by using API methods.

Task 2: Define the Subsystem Elements of the Simulink Function

Follow these steps to define the subsystem elements of the Simulink function:

1 Double-click the Simulink function box.

The contents of the subsystem appear: input and output ports that match the
function signature and a single function-call trigger port.
2 Add Simulink blocks to the subsystem.
3 Connect the input and output ports to each block.

Note: You cannot delete the trigger port in the function.

The following example shows the subsystem elements for a Simulink function.

Task 3: Configure the Function Inputs

Follow these steps to configure inputs for the Simulink function:

27-16
 Basic Approach to Defining Simulink Functions in Stateflow Charts

1 Configure the input ports.

a Double-click an input port to open the Block Parameters dialog box.

b In the Signal Attributes pane, enter the size and data type.

For example, you can specify a size of [2 3] for a 2-by-3 matrix and a data type
of uint8.
2 Click OK.

Note: An input port of a Simulink function cannot inherit size or data type. Therefore,
you define the size and data type of an input that is not scalar data of type double.
However, an output port can inherit size and data type.

More About
Simulink Functions in Stateflow on page 27-2
Why Use a Simulink Function in a Stateflow Chart? on page 27-8
Share Functions Across Simulink and Stateflow on page 27-6

27-17
27 Simulink Functions in Stateflow Charts

How a Simulink Function Binds to a State

In this section...
Bind Behavior of a Simulink Function on page 27-18
Control Subsystem Variables When the Simulink Function Is Disabled on page
27-20
Example of Binding a Simulink Function to a State on page 27-20

Bind Behavior of a Simulink Function

When a Simulink function resides inside a state, the function binds to that state. Binding
results in the following behavior:

Function calls can occur only in state actions and on transitions within the state and
its substates.
When the state is entered, the function is enabled.
When the state is exited, the function is disabled.

For example, the following Stateflow chart shows a Simulink function that binds to a
state.

27-18
 How a Simulink Function Binds to a State

Because the function queue resides in state A1, the function binds to that state.

State A1 and its substates A2 and A3 can call queue, but state B1 cannot.
When state A1 is entered, queue is enabled.
When state A1 is exited, queue is disabled.

27-19
27 Simulink Functions in Stateflow Charts

Control Subsystem Variables When the Simulink Function Is Disabled

If a Simulink function binds to a state, you can hold the subsystem variables at their
values from the previous execution or reset the variables to their initial values. Follow
these steps:

1 In the Simulink function, double-click the trigger port to open the Block Parameters
dialog box.
2 Select an option for States when enabling.

Option Description Reference Section

held Holds the values of the How the Function Behaves
subsystem variables from When Variables Are Held
the previous execution on page 27-23
reset Resets the subsystem How the Function Behaves
variables to their initial When Variables Are Reset
values on page 27-24

Example of Binding a Simulink Function to a State

This example shows how a Simulink function behaves when bound to a state.

The function queue contains a block diagram that increments a counter by 1 each time
the function executes.

27-20
 How a Simulink Function Binds to a State

The Block Parameters dialog box for the trigger port appears as follows.

27-21
27 Simulink Functions in Stateflow Charts

27-22
 How a Simulink Function Binds to a State

In the dialog box, setting Sample time type to periodic enables the Sample time
field, which defaults to 1. These settings tell the function to execute for each time step
specified in the Sample time field while the function is enabled.

Note: If you use a fixed-step solver, the value in the Sample time field must be an
integer multiple of the fixed-step size. This restriction does not apply to variable-step
solvers. (For more information, see Solvers (Simulink).)

Simulation Behavior of the Chart

When you simulate the chart, the following actions occur.

1 The default transition to state A1 occurs, which includes setting local data u1 to 1.
2 When A1 is entered, the function queue is enabled.
3 Function calls to queue occur until the condition after(5, sec) is true.
4 The transition from state A1 to B1 occurs.
5 When A1 is exited, the function queue is disabled.
6 After two more seconds pass, the transition from B1 to A1 occurs.
7 Steps 2 through 6 repeat until the simulation ends.

How the Function Behaves When Variables Are Held

If you set States when enabling to held, the output y1 is as follows.

27-23
27 Simulink Functions in Stateflow Charts

When state A1 becomes inactive at t = 5, the Simulink function holds the counter value.
When A1 is active again at t = 7, the counter has the same value as it did at t = 5.
Therefore, the output y1 continues to increment over time.

How the Function Behaves When Variables Are Reset

If you set States when enabling to reset, the output y1 is as follows.

27-24
 How a Simulink Function Binds to a State

When state A1 becomes inactive at t = 5, the Simulink function does not hold the counter
value. When A1 is active again at t = 7, the counter resets to zero. Therefore, the output
y1 resets too.

More About
Simulink Functions in Stateflow on page 27-2
Why Use a Simulink Function in a Stateflow Chart? on page 27-8

27-25
27 Simulink Functions in Stateflow Charts

How a Simulink Function Behaves When Called from Multiple Sites

If you call a Simulink function from multiple sites in a chart, all call sites share the state
of the function variables. For example, suppose you have a chart with two calls to the
same Simulink function at each time step.

The function f contains a block diagram that increments a counter by 1 each time the
function executes.

At each time step, the function f is called twice, which causes the counter to increment
by 2. Because all call sites share the value of this counter, the data y and y1 increment
by 2 at each time step.

Note: This behavior also applies to external function-call subsystems in a Simulink

model. For more information, see Function-Call Subsystems (Simulink).

More About
Simulink Functions in Stateflow on page 27-2

27-26
 Define a Function That Uses Simulink Blocks

Define a Function That Uses Simulink Blocks

In this section...
Goal of the Tutorial on page 27-27
Edit a Model to Use a Simulink Function on page 27-28
Run the New Model on page 27-35

Goal of the Tutorial

The goal of this tutorial is to use a Simulink function in a Stateflow chart to improve the
design of a model named old_sf_car.

Rationale for Improving the Model Design

The old_sf_car model contains a function-call subsystem named Threshold Calculation

and a Stateflow chart named shift_logic. The two blocks interact as follows:

The chart broadcasts the output event CALC_TH to trigger the function-call
subsystem.
The subsystem uses lookup tables to interpolate two values for the shift_logic chart.

27-27
27 Simulink Functions in Stateflow Charts

The subsystem outputs (up_th and down_th) feed directly into the chart as inputs.

No other blocks in the model access the subsystem outputs.

You can replace a function-call subsystem with a Simulink function in a chart when:

The subsystem performs calculations required by the chart.

Other blocks in the model do not need access to the subsystem outputs.

Edit a Model to Use a Simulink Function

The sections that follow describe how to replace a function-call subsystem in a Simulink
model with a Simulink function in a Stateflow chart. This procedure reduces the number
of objects in the model while retaining the same simulation results.

Step Task Reference

1 Open the model. Open the Model on page 27-28
2 Move the contents of the function-call Add a Simulink Function to the Chart
subsystem into a Simulink function in on page 27-30
the chart.
3 Change the scope of specific chart-level Change the Scope of Chart Data on
data to Local. page 27-33
4 Replace the event broadcast with a Update State Action in the Chart on
function call. page 27-34
5 Verify that function inputs and outputs Add Data to the Chart on page
are defined. 27-34
6 Remove unused items in the model. Remove Unused Items in the Model
on page 27-35

Note: To skip the conversion steps and access the new model directly, type sf_car at the
MATLAB command prompt.

Open the Model

Type old_sf_car at the MATLAB command prompt. If you simulate the model, you see
these results in the two scopes.

27-28
Define a Function That Uses Simulink Blocks

27-29
27 Simulink Functions in Stateflow Charts

Add a Simulink Function to the Chart

Follow these steps to add a Simulink function to the shift_logic chart.

1 In the Simulink model, right-click the Threshold Calculation block in the lower left
corner and select Cut from the context menu.

27-30
 Define a Function That Uses Simulink Blocks

2 Open the shift_logic chart.

3 In the chart, right-click below selection_state and select Paste from the context
menu.
4 Expand the new Simulink function so that the signature fits inside the function box.

27-31
27 Simulink Functions in Stateflow Charts

Tip: To change the font size of a function, right-click the function box and select a
new size from the Font Size menu.
5 Expand the border of selection_state to include the new function.

27-32
 Define a Function That Uses Simulink Blocks

Note: The function resides in this state instead of the chart level because no other
state in the chart requires the function outputs up_th and down_th. See How a
Simulink Function Binds to a State on page 27-18.
6 Rename the Simulink function from Threshold_Calculation to
calc_threshold by entering [down_th, up_th] = calc_threshold(gear,
throttle) in the function box.

Change the Scope of Chart Data

In the Model Explorer, change the scope of chart-level data up_th and down_th to
Local because calculations for those data now occur inside the chart.

27-33
27 Simulink Functions in Stateflow Charts

Update State Action in the Chart

In the Stateflow Editor, change the during action in selection_state to call the
Simulink function calc_threshold.

during: [down_th, up_th] = calc_threshold(gear, throttle);

Add Data to the Chart

Because the function calc_threshold takes throttle as an input, you must define
that data as a chart input. (For details, see Add Stateflow Data on page 8-2.)

1 Add input data throttle to the chart with a Port property of 1.

Using port 1 prevents signal lines from overlapping in the Simulink model.
2 In the Simulink model, add a signal line for throttle between the inport of the
Engine block and the inport of the shift_logic chart.

27-34
 Define a Function That Uses Simulink Blocks

Remove Unused Items in the Model

1 In the Model Explorer, delete the function-call output event CALC_TH because the
Threshold Calculation block no longer exists.
2 Delete any dashed signal lines from your model.

Run the New Model

Your new model looks something like this:

If you simulate the new model, the results match those of the original design.

More About
Simulink Functions in Stateflow on page 27-2
Basic Approach to Defining Simulink Functions in Stateflow Charts on page 27-15

27-35
27 Simulink Functions in Stateflow Charts

Schedule Execution of Multiple Controllers

In this section...
Goal of the Tutorial on page 27-36
Edit a Model to Use Simulink Functions on page 27-37
Run the New Model on page 27-43

Goal of the Tutorial

The goal of this tutorial is to use Simulink functions in a Stateflow chart to improve the
design of a model named sf_temporal_logic_scheduler.

Rationale for Improving the Model Design

The sf_temporal_logic_scheduler model contains a Stateflow chart and three

function-call subsystems. These blocks interact as follows:

27-36
 Schedule Execution of Multiple Controllers

The chart broadcasts the output events A1, A2, and A3 to trigger the function-call
subsystems.
The subsystems A1, A2, and A3 execute at different rates defined by the chart.
The subsystem outputs feed directly into the chart.

No other blocks in the model access the subsystem outputs.

You can replace function-call subsystems with Simulink functions inside a chart when:

The subsystems perform calculations required by the chart.

Other blocks in the model do not need access to the subsystem outputs.

Edit a Model to Use Simulink Functions

The sections that follow describe how to replace function-call subsystem blocks in a
Simulink model with Simulink functions in a Stateflow chart. This procedure reduces the
number of objects in the model while retaining the same simulation results.

Step Task Reference

1 Open the model. Open the Model on page 27-38
2 Move the contents of the function-call Add Simulink Functions to the Chart
subsystems into Simulink functions in on page 27-38
the chart.
3 Change the scope of specific chart-level Change the Scope of Chart Data on
data to Local. page 27-41
4 Replace event broadcasts with function Update State Actions in the Chart on
calls. page 27-42
5 Verify that function inputs and outputs Add Data to the Chart on page
are defined. 27-43
6 Remove unused items in the model. Remove Unused Items in the Model
on page 27-43

Note: To skip the conversion steps and access the new model directly, type
sf_temporal_logic_scheduler_with_sl_fcns at the MATLAB command prompt.

27-37
27 Simulink Functions in Stateflow Charts

Open the Model

Type sf_temporal_logic_scheduler at the MATLAB command prompt. If you

simulate the model, you see this result in the scope.

For more information, see Schedule Subsystems to Execute at Specific Times on page
24-17.

Add Simulink Functions to the Chart

Follow these steps to add Simulink functions to the Temporal Logic Scheduler chart.

27-38
 Schedule Execution of Multiple Controllers

1 In the Simulink model, right-click the A1 block in the lower right corner and select
Cut from the context menu.

2 Open the Temporal Logic Scheduler chart.

3 In the chart, right-click outside any states and select Paste from the context menu.
4 Expand the new Simulink function so that the signature fits inside the function box.

27-39
27 Simulink Functions in Stateflow Charts

Tip: To change the font size of a function, right-click the function box and select a
new size from the Font Size menu.
5 Rename the Simulink function from A1 to f1 by entering y = f1(u) in the function
box.
6 Repeat steps 1 through 5 for these cases:

Copying the contents of A2 into a Simulink function named f2.

Copying the contents of A3 into a Simulink function named f3.

27-40
 Schedule Execution of Multiple Controllers

Note: The new functions reside at the chart level because both states
FastScheduler and SlowScheduler require access to the function outputs.

Change the Scope of Chart Data

In the Model Explorer, change the scope of chart-level data y to Local because the
calculation for that data now occurs inside the chart.

27-41
27 Simulink Functions in Stateflow Charts

Update State Actions in the Chart

In the Stateflow Editor, you can replace event broadcasts in state actions with function
calls.

1 Edit the state actions in FastScheduler and SlowScheduler to call the Simulink
functions f1, f2, and f3.

2 In both states, update each during action as follows.

du: y = u1-y2;

27-42
 Schedule Execution of Multiple Controllers

Add Data to the Chart

For the on every state actions of FastScheduler and SlowScheduler, define three
data. (For details, see Add Stateflow Data on page 8-2.)

1 Add local data y1 and y2 to the chart.

2 Add output data y3 to the chart.
3 In the model, connect the outport for y3 to the inport of the scope.

Tip: To flip the Scope block, right-click and select Rotate & Flip > Flip Block from
the context menu.

Remove Unused Items in the Model

1 In the Model Explorer, delete output events A1, A2, and A3 and input data u2
because the function-call subsystems no longer exist.
2 Delete any dashed signal lines from your model.

Run the New Model

Your new model looks something like this:

27-43
27 Simulink Functions in Stateflow Charts

If you simulate the new model, the results match those of the original design.

More About
Simulink Functions in Stateflow on page 27-2
Basic Approach to Defining Simulink Functions in Stateflow Charts on page 27-15

27-44
 28

Build Targets

Code Generation for Stateflow Blocks on page 28-2

Choose a Procedure to Simulate a Model on page 28-3
Integrate Custom C/C++ Code for Simulation on page 28-5
Speed Up Simulation on page 28-14
Generate C/C++ Code for Rapid Prototyping or Production Deployment on page
28-16
Optimize Generated Code on page 28-17
Command-Line API to Set Simulation and Code Generation Parameters on page
28-18
Specify Relative Paths for Custom Code on page 28-23
Share Data Using Custom C Code on page 28-25
Parse Stateflow Charts on page 28-31
Resolve Undefined Symbols in Your Chart on page 28-32
Traceability of Stateflow Objects in Generated Code on page 28-37
Call Extrinsic Functions in a Stateflow Chart on page 28-38
28 Build Targets

Code Generation for Stateflow Blocks

If you have the required software license, you can generate code for models that include
Stateflow blocks for these uses.

Use Required Software License

Rapid prototyping Simulink Coder
Production code deployment Embedded Coder

Code Generation for Rapid Prototyping and Production Code Deployment

If you have a Simulink Coder or Embedded Coder license, you can generate C or C+
+ code from models that include Stateflow blocks. Simulink Coder software generates
source code that you can use for real-time and nonreal-time applications, including
simulation acceleration, rapid prototyping, and hardware-in-the-loop testing. Embedded
Coder software generates readable, compact, and fast code for use on embedded
processors, on-target rapid prototyping boards, and microprocessors used in mass
production. The generated C/C++ code does not contain code to interface with other
blocks in a Simulink model or the MATLAB base workspace.

Related Examples
Choose a Procedure to Simulate a Model on page 28-3
Generate C/C++ Code for Rapid Prototyping or Production Deployment on page
28-16

28-2
 Choose a Procedure to Simulate a Model

Choose a Procedure to Simulate a Model

In this section...
Guidelines for Simulation on page 28-3
Choose the Right Procedure for Simulation on page 28-3

Guidelines for Simulation

When you simulate a model, use these guidelines to choose the right procedure.

Do this step... When...

Speed up simulation You have a large model with many blocks.

See Speed Up Simulation on page 28-14.

Include custom code You want to take advantage of legacy code that augments
model capabilities and also include custom variables and
functions that you share between your custom code and
Stateflow generated code. See Integrate Custom C/C++ Code
for Simulation on page 28-5.
Include custom code You want to provide custom code in a portable, self-contained
only for library charts library for use in multiple models.

Choose the Right Procedure for Simulation

To choose the right procedure for simulation, find the highlighted block that describes
your goal and see the corresponding section in Integrate Custom C/C++ Code for
Simulation on page 28-5.

28-3
28 Build Targets

See Yes
Speeding Up Speed up
Simulation. simulation?

No

Include No See Starting

custom Simulation.
code?

Yes

See
C++ Integrating
C or C++? Custom C++
Code for
Simulation.

See Yes Choose a

Choosing a custom
Compiler. compiler?

No

See Integrating
No Custom C Code
Any library for Nonlibrary
charts? Charts for
Simulation.

Yes

See Integrating All charts in Library See Integrating

Custom C Code the model Custom charts only Custom C Code
for All Charts for code applies for Library
Simulation. to...? Charts for
Simulation.

More About
Speed Up Simulation on page 28-14
Set Up Your Own Target Compiler

28-4
 Integrate Custom C/C++ Code for Simulation

Integrate Custom C/C++ Code for Simulation

In this section...
Integrate Custom C++ Code for Simulation on page 28-5
Integrate Custom C Code for Nonlibrary Charts for Simulation on page 28-6
Integrate Custom C Code for Library Charts for Simulation on page 28-9
Integrate Custom C Code for All Charts for Simulation on page 28-11
Call External Functions in Charts with MATLAB as the Action Language on page
28-13
Start Simulation on page 28-13

Integrate Custom C++ Code for Simulation

In C charts, to integrate custom C++ code for simulation, perform the tasks that follow.

Task 1: Prepare Code Files

Prepare your custom C++ code for simulation as follows:

1 Add a C function wrapper to your custom code. This wrapper function executes the C
++ code that you are including.

The C function wrapper should have this form:

int my_c_function_wrapper()
{
.
.
.
//C++ code
.
.
.
return result;
}
2 Create a header file that prototypes the C function wrapper in the previous step.

The header file should have this form:

int my_c_function_wrapper();

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The value _cplusplus exists if your compiler supports C++ code. The extern "C"
wrapper specifies C linkage with no name mangling.

Task 2: Include Custom C++ Source and Header Files for Simulation

To include custom C++ code for simulation, you must configure your simulation target
and select C++ as the custom code language:

1 Open the Model Configuration Parameters dialog box.

2 In the Model Configuration Parameters dialog box, select the Simulation Target
pane.
3 Add your custom header file in the Header file subpane. Click Apply.
4 Add your custom C++ files in the Source files subpane. Click Apply.
5 In the Model Configuration Parameters dialog box, select the Code Generation
pane.
6 Select C++ from the Language menu.
7 Click OK.

Task 3: Choose a C++ Compiler

You can change the default compiler by calling the mex setup command, and following
the instructions. For a list of supported compilers, see www.mathworks.com/support/
compilers/current_release/.

Task 4: Simulate the Model

For instructions, see Start Simulation on page 28-13.

Integrate Custom C Code for Nonlibrary Charts for Simulation

In C Charts, to integrate custom C code that applies to nonlibrary charts for simulation,
perform the tasks that follow.

Task 1: Include Custom C Code in the Simulation Target

Specify custom code options in the simulation target for your model:

1 Open the Model Configuration Parameters dialog box.

2 In the Model Configuration Parameters dialog box, select the Simulation Target
pane.

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 Integrate Custom C/C++ Code for Simulation

The custom code options appear.

3 Specify your custom code in the subpanes.

Follow the guidelines in Specify Relative Paths for Custom Code on page 28-23.

Source file Enter code lines to include at the top of a generated source code
file. These code lines appear at the top of the generated model.c source file,
outside of any function.

For example, you can include extern int declarations for global variables.
Header file Enter code lines to include at the top of the generated model.h
header file that declares custom functions and data in the generated code. These
code lines appear at the top of all generated source code files and are visible to all
generated code.

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28 Build Targets

Note: When you include a custom header file, you must enclose the file name
in double quotes. For example, #include ''sample_header.h'' is a valid
declaration for a custom header file.

Since the code you specify in this option appears in multiple source files that link
into a single binary, limitations exist on what you can include. For example, do
not include a global variable definition such as int x; or a function body such as

void myfun(void)
{
...
}

These code lines cause linking errors because their symbol definitions appear
multiple times in the source files of the generated code. You can, however, include
extern declarations of variables or functions such as extern int x; or extern
void myfun(void);.
Initialize function Enter code statements that execute once at the start of
simulation. Use this code to invoke functions that allocate memory or perform
other initializations of your custom code.
Terminate function Enter code statements that execute at the end of
simulation. Use this code to invoke functions that free memory allocated by the
custom code or perform other cleanup tasks.
Include directories Enter a space-separated list of the folder paths that
contain custom header files that you include either directly (see Header file
option) or indirectly in the compiled target.
Source files Enter a list of source files to compile and link into the target. You
can separate source files with a comma, a space, or a new line.
Libraries Enter a space-separated list of static libraries that contain custom
object code to link into the target.
4 Click OK.

Tip: If you want to rebuild the target to include custom code changes, select Code > C/C+
+ Code > Build Model in the Stateflow Editor.

28-8
 Integrate Custom C/C++ Code for Simulation

Task 2: Simulate the Model

For instructions, see Start Simulation on page 28-13.

Integrate Custom C Code for Library Charts for Simulation

In C charts, to integrate custom C code that applies only to library charts for simulation,
perform the tasks that follow.

Task 1: Include Custom C Code in Simulation Targets for Library Models

Specify custom code options in the simulation target for each library model that
contributes a chart to the main model:

1 In the Stateflow Editor, select Simulation > Debug > Simulation Target For
MATLAB & Stateflow.

The Model Configuration Parameters dialog box appears.

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28 Build Targets

2 In the All Parameters tab, select Use local custom code settings (do not
inherit from main model).

This step ensures that each library model retains its own custom code settings
during simulation.
3 Specify your custom code in the subpanes.

Follow the guidelines in Specify Relative Paths for Custom Code on page 28-23.

28-10
 Integrate Custom C/C++ Code for Simulation

Note: See Task 1: Include Custom C Code in the Simulation Target on page
28-6 for descriptions of the custom code options.
4 Click OK.

Task 2: Simulate the Model

For instructions, see Start Simulation on page 28-13.

Integrate Custom C Code for All Charts for Simulation

In C charts, to integrate custom C code that applies to all charts for simulation, perform
the tasks that follow.

Task 1: Include Custom C Code in the Simulation Target for the Main Model

Specify custom code options in the simulation target for your main model:

1 Open the Model Configuration Parameters dialog box.

2 In the Model Configuration Parameters dialog box, select the Simulation Target
pane.

The custom code options appear.

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28 Build Targets

3 Specify your custom code in the subpanes.

Follow the guidelines in Specify Relative Paths for Custom Code on page 28-23.

Note: See Task 1: Include Custom C Code in the Simulation Target on page
28-6 for descriptions of the custom code options.
4 Click OK.

By default, settings in the Simulation Target pane for the main model apply to all
charts contributed by library models.

Tip: If you want to rebuild the target to include custom code changes, select Code > C/C+
+ Code > Build Model in the Stateflow Editor.

28-12
 Integrate Custom C/C++ Code for Simulation

Task 2: Ensure That Custom C Code for the Main Model Applies to Library Charts

Configure the simulation target for each library model that contributes a chart to your
main model:

1 In the Stateflow Editor, select Simulation > Debug > Simulation Target For
MATLAB & Stateflow.
2 In the All Parameters tab, clear the Use local custom code settings (do not
inherit from main model) check box.

This step ensures that library charts inherit the custom code settings of your main
model.
3 Click OK.

Task 3: Simulate the Model

For instructions, see Start Simulation on page 28-13.

Call External Functions in Charts with MATLAB as the Action Language

For information on calling external code from MATLAB code, see Call External
Functions with coder.ceval (MATLAB Coder) and External Code Integration for Code
Generation (MATLAB Coder).

Start Simulation
Simulate your model by clicking the play button in the toolbar of the editor.

For information on setting simulation options using the command-line API, see
Command-Line API to Set Simulation and Code Generation Parameters on page
28-18.

Note: You cannot simulate only the Stateflow blocks in a library model. You must first
create a link to the library block in your main model and then simulate the main model.

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28 Build Targets

Speed Up Simulation
In this section...
Performance of Model Update on page 28-14
Disable Simulation Target Options That Impact Execution Speed on page 28-14
Keep Charts Closed to Speed Up Simulation on page 28-15
Keep Scope Blocks Closed to Speed Up Simulation on page 28-15
Use Library Charts in Your Model on page 28-15

Performance of Model Update

Stateflow uses Just-In-Time (JIT) compilation mode to improve model update
performance of most charts. Stateflow applies JIT mode to charts that qualify. For a
chart in JIT mode, Stateflow generates an execution engine in memory for simulation.
For these charts, Stateflow does not generate C code or a MEX file to simulate the chart.
JIT mode provides the best performance during the compilation of a model.

Some charts do not qualify for JIT mode, such as charts with:

Debugging breakpoints set

Custom C code symbols
Signal logging
Model Coverage in Simulink Verification and Validation

For charts that do not qualify for JIT mode, Stateflow generates C code with debugging
support. The C code is built into an executable file that is used during simulation.

To gain optimal performance for charts that do not qualify for JIT mode, turn off
debugging using this command.

sfc('coder_options', 'forceDebugOff', 1);

After you run this command, these charts do not have debugging, animation, or run-time
error checking.

Disable Simulation Target Options That Impact Execution Speed

To simulate your model more quickly, open the Model Configuration Parameters dialog
box. In the All Parameters tab, clear the check boxes for these parameters.

28-14
 Speed Up Simulation

Echo expressions without semicolons Clear this check box to disable run-time
output in the MATLAB Command Window, such as actions that do not terminate
with a semicolon.
Ensure responsiveness Clear this check box to disable ability to break out of
long-running execution using Ctrl+C.

Click OK.

Keep Charts Closed to Speed Up Simulation

During model simulation, any open charts with animation enabled take longer to
simulate. If you keep all charts closed, you can speed up the simulation.

Keep Scope Blocks Closed to Speed Up Simulation

During model simulation, any open Scope blocks continuously update their display. If you
keep all Scope blocks closed, you can speed up the simulation. After the simulation ends,
you can open the Scope blocks to view the results.

Use Library Charts in Your Model

If your model contains multiple charts that do not use JIT mode and contain the same
elements, you might generate multiple copies of identical simulation code. By using
library charts, you can minimize the number of copies of identical simulation code. For
example, using five library charts reduces the number of identical copies from five down
to one.

For more information about using library charts, see Create Specialized Chart Libraries
for Large-Scale Modeling on page 22-19.

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28 Build Targets

Generate C/C++ Code for Rapid Prototyping or Production

Deployment
If you have a Simulink Coder or Embedded Coder license, you can generate C or C++
code from models that include Stateflow blocks. The following table directs you to code
generation information based on your goals.

Goal See the Following Information in the Simulink Coder documentation

Generate C/C++ source Source Code Generation in Simulink Coder (Simulink Coder)
code
You cannot generate code only for the Stateflow blocks in a
library model. You must first create a link to the library block in
your main model and then generate code for the main model.
Generate C/C++ Program Building, Interaction, and Debugging in Simulink
source code and build Coder (Simulink Coder)
executable
Optimize generated Reduce Memory Usage for Boolean and State Configuration
code Variables (Simulink Coder) and Design Tips for Optimizing
Generated Code for Stateflow Objects (Simulink Coder)
Integrate external External Code Integration (Simulink Coder)
code
Include external code Integrate External Code for Library Charts (Simulink Coder)
only for library charts
in a portable, self-
contained library for
use in multiple models

28-16
 Optimize Generated Code

Optimize Generated Code

If you have a Simulink Coder or Embedded Coder license, you can reduce memory usage
of C/C++ code generated for Stateflow objects in your Simulink models.

For more information, see Design Tips for Optimizing Generated Code for Stateflow
Objects (Simulink Coder) and Reduce Memory Usage for Boolean and State
Configuration Variables (Simulink Coder).

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28 Build Targets

Command-Line API to Set Simulation and Code Generation

Parameters

In this section...
How to Set Parameters at the Command Line on page 28-18
Simulation Parameters for Nonlibrary Models on page 28-19
Simulation Parameters for Library Models on page 28-21

How to Set Parameters at the Command Line

To programmatically set options in the Model Configuration Parameters dialog box for
simulation and embeddable code generation, you can use the command-line API.

1 At the MATLAB command prompt, type:

object_name = getActiveConfigSet(gcs)

This command returns an object handle to the model settings in the Model
Configuration Parameters dialog box for the current model.
2 To set a parameter for that dialog box, type:

object_name.set_param('parameter_name', value)

This command sets a configuration parameter to the value that you specify.

For example, you can set the Reserved names parameter for simulation by typing:

cp = getActiveConfigSet(gcs)
cp.set_param('SimReservedNameArray', {'abc','xyz'})

Note: You can also get the current value of a configuration parameter by typing:

object_name.get_param('parameter_name')

For more information about using get_param and set_param, see the Simulink
documentation.

28-18
 Command-Line API to Set Simulation and Code Generation Parameters

Simulation Parameters for Nonlibrary Models

The following table summarizes the parameters and values that you can set for
simulation of nonlibrary models using the command-line API. The parameters are listed
in All Parameters tab of the Model Configuration Parameters dialog box.

Parameter and Values Dialog Box Equivalent Description

SimIntegrity Ensure memory integrity Detect violations of memory
integrity in code generated for
'off', 'on' MATLAB Function blocks and
stop execution with a diagnostic.
SFSimEcho Echo expressions without Enable run-time output
semicolons to appear in the MATLAB
'off', 'on' Command Window during
simulation.
SimCtrlC Ensure responsiveness Enable responsiveness checks
in code generated for MATLAB
'off', 'on' Function blocks.
SimBuildMode Simulation target build Specify how you build the
mode simulation target for a model.
'sf_incremental_build',
'sf_nonincremental_build',
'sf_make',
'sf_make_clean',
'sf_make_clean_objects'
SimReservedNameArray Symbols > Reserved names Enter the names of variables
or functions in the generated
string array {} code that match the names of
variables or functions specified
in custom code to avoid naming
conflicts.
SimParseCustomCode Parse custom code symbols Specify whether or not to parse
the custom code and report
'off', 'on' unresolved symbols for the C
charts in a model.

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28 Build Targets

Parameter and Values Dialog Box Equivalent Description

SimCustomSourceCode Source file Enter code lines to appear near
the top of a generated source
string '' code file.
SimCustomHeaderCode Header file Enter code lines to appear near
the top of a generated header
string '' file.
SimCustomInitializer Initialize function Enter code statements that
execute once at the start of
string '' simulation.
SimCustomTerminator Terminate function Enter code statements that
execute at the end of simulation.
string ''
SimUserIncludeDirs Include directories Enter a space-separated list of
folder paths that contain files
string '' you include in the compiled
target.

Note: If your list includes any

Windows paths that contain
spaces, each instance must be
enclosed in double quotes within
the argument, for example,
'C:\Project "C:\Custom Files"'

SimUserSources Source files Enter a space-separated list of

source files to compile and link
string '' into the target.
SimUserLibraries Libraries Enter a space-separated list
of static libraries that contain
string '' custom object code to link into
the target.

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 Command-Line API to Set Simulation and Code Generation Parameters

Simulation Parameters for Library Models

The following table summarizes the simulation parameters that apply to library
models. The parameters are listed in All Parameters tab of the Model Configuration
Parameters dialog box.

Parameter and Values Dialog Box Equivalent Description

SimUseLocalCustomCode Use local custom code Specify whether a library model
settings (do not inherit from can use custom code settings
'off', 'on' main model) that are unique from the main
model to which the library is
linked.
SimCustomSourceCode Source file Enter code lines to appear near
the top of a generated source
string '' code file.
SimCustomHeaderCode Header file Enter code lines to appear near
the top of a generated header
string '' file.
SimCustomInitializer Initialize function Enter code statements that
execute once at the start of
string '' simulation.
SimCustomTerminator Terminate function Enter code statements that
execute at the end of simulation.
string ''
SimUserIncludeDirs Include directories Enter a space-separated list of
folder paths that contain files
string '' you include in the compiled
target.

Note: If your list includes any

Windows paths that contain
spaces, each instance must be
enclosed in double quotes within
the argument, for example,
'C:\Project "C:\Custom Files"'

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28 Build Targets

Parameter and Values Dialog Box Equivalent Description

SimUserSources Source files Enter a space-separated list of
source files to compile and link
string '' into the target.
SimUserLibraries Libraries Enter a space-separated list
of static libraries that contain
string '' custom object code to link into
the target.

More About
Recommended Settings Summary for Model Configuration Parameters (Simulink
Coder)

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 Specify Relative Paths for Custom Code

Specify Relative Paths for Custom Code

In this section...
Why Use Relative Paths? on page 28-23
Search Relative Paths on page 28-23
Path Syntax Rules on page 28-23

Why Use Relative Paths?

If you specify paths and files with absolute paths and later move them, you must change
these paths to point to new locations. To avoid this problem, use relative paths for custom
code options that specify paths or files.

Search Relative Paths

Search paths exist relative to these folders:

The current folder

The model folder (if different from the current folder)
The custom list of folders that you specify
All the folders on the MATLAB search path, excluding the toolbox folders

Path Syntax Rules

When you construct relative paths for custom code, follow these syntax rules:

You can use the forward slash (/) or backward slash (\) as a file separator, regardless
of whether you are on a UNIX or PC platform. The makefile generator returns the
path names with the correct platform-specific file separators.
You can use tokens that evaluate in the MATLAB workspace, if you enclose them
with dollar signs ($...$). For example, consider this path:
$mydir1$\dir1

In this example, mydir1 is a variable that you define in the MATLAB workspace
as 'd:\work\source\module1'. In the generated code, this custom include path
appears as:

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28 Build Targets

d:\work\source\module1\dir1
You must enclose paths in double quotes if they contain spaces or other nonstandard
path characters, such as hyphens (-).

28-24
 Share Data Using Custom C Code

Share Data Using Custom C Code

In this section...
Use Custom Code to Define Global Constants on page 28-25
Use Custom Code to Define Global Constants, Variables, and Functions on page
28-27

Use Custom Code to Define Global Constants

This example describes how to use custom C code to define constants that apply to all
charts in your model.

1 Suppose that you have the following model:

The chart contains the following logic:

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28 Build Targets

The chart contains two states A and B, along with a Simulink input named
input_data, which you can set to 0 or 1 by toggling the Manual Switch in the model
during simulation.
2 Open the Model Configuration Parameters dialog box.
3 In the Model Configuration Parameters dialog box, select the Simulation Target
pane.
4 Select the Header file subpane.

In this subpane, you can enter #define and #include statements.

28-26
 Share Data Using Custom C Code

In this example, you define two constants named TRUE and FALSE to move between
states in your chart, instead of using the values 1 and 0. These custom definitions
improve the readability of your chart actions. Note that TRUE and FALSE are not
Stateflow data objects.

Because the two custom definitions appear at the top of your generated machine header
file ex_custom_code_global_constants_sfun.h, you can use TRUE and FALSE in all
charts that belong to this model.

Use Custom Code to Define Global Constants, Variables, and Functions

This example describes how to use custom C code to define constants, variables, and
functions that apply to all charts in your model.

1 Suppose that you have the following model:

The chart contains the following logic:

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28 Build Targets

The chart contains two states A and B, along with three data objects: input_data,
local_data, and out_data. The chart accesses a custom variable named
myglobal and calls a custom function named my_function.
2 Open the Model Configuration Parameters dialog box.
3 In the Model Configuration Parameters dialog box, select the Simulation Target
pane.
4 Select the Header file subpane.

In this subpane, you can enter #define and #include statements.

28-28
 Share Data Using Custom C Code

Note: When you include a custom header file, you must enclose the file name in
double quotes.

The custom header file ex_custom_code_global_constants_vars_fcns_hdr.h

contains the definitions of three constants:

#define TRUE 1
#define FALSE 0
#define MAYBE 2

This header file also contains declarations for the variable myglobal and the
function my_function:

extern int myglobal;

extern int my_function(int var1, double var2);

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28 Build Targets

5 Select the Include directories subpane.

The single period (.) indicates that all your custom code files reside in the same
folder as ex_custom_code_global_constants_vars_fcns.

Tip: To direct your makefile to look for header or source files in a subfolder relative
to the model folder, use this relative path name:
.\subfolder_name
6 Select the Source files subpane.

The custom source file ex_custom_code_global_constants_vars_fcns_src.c

compiles along with the Stateflow generated code into a single S-function MEX file.

Tip: To include a source file that resides in a subfolder relative to the model folder,
use this relative path name:
.\subfolder_name\source_file.c

In this example, you define three constants, a variable, and a function via custom code
options. Because the custom definitions appear at the top of your generated machine
header file ex_custom_code_global_constants_vars_fcns_sfun.h, you can access
them in all charts that belong to this model.

Note: Do not share fixed-point data between your custom code and your Stateflow chart.
Stateflow expects data returned from custom code to be of type double.

28-30
 Parse Stateflow Charts

Parse Stateflow Charts

In this section...
How the Stateflow Parser Works on page 28-31
Calling the Stateflow Parser on page 28-31

How the Stateflow Parser Works

The parser evaluates the graphical and nongraphical objects and data in each Stateflow
machine against the supported chart notation and the action language syntax.

Calling the Stateflow Parser

When you simulate a model, build a target, or generate code for a target, Stateflow
automatically parses the Stateflow machine. Additionally, you can invoke the Stateflow
parser to check the syntax of your chart by selecting Chart > Parse Chart from the
Stateflow Editor.

If parsing is unsuccessful, the chart automatically appears with the highlighted object
that causes the first parse error. You can select the error in the diagnostic window to
bring its source chart to the front with the source object highlighted. Any unresolved data
or events in the chart are flagged in the Symbol Wizard.

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Resolve Undefined Symbols in Your Chart

In this section...
Search for Undefined Symbols on page 28-32
Resolve Undefined Data in the Symbols Window on page 28-33
Define Chart Symbols with the Symbol Wizard on page 28-33
Rules for Inferring the Scope of Unresolved Symbols on page 28-34
Inference of Size, Type, and Complexity on page 28-35

Search for Undefined Symbols

To search for undefined symbol errors, use one of these methods:

View the Symbols window and look for a red error icon . When you hover your
cursor over the icon, you see Undefined symbol.
Parse a chart by selecting Chart > Parse Chart.
Start simulation by selecting Simulation > Run in the model window.
Update the model diagram by selecting Simulation > Update Diagram in the model
window.

The parser behaves differently depending on how you set Parse custom code symbols
in the Model Configuration Parameters dialog box, on the Simulation Target pane.

For C charts, if you select the Parse custom code symbols check box, the parser
tries to find unresolved chart symbols in the custom code. If the custom code does not
define these symbols, they are flagged in the Symbol Wizard. The Symbol Wizard
suggests scopes for unresolved data and event symbols. This option is not available for
charts that use MATLAB as the action language.
If you do not select the Parse custom code symbols check box, the parser considers
unresolved data symbols in the chart to be defined in the custom code. If the custom
code does not define these symbols, an error does not appear until make time.

Note: When you parse a chart, Stateflow has access to all required information for
detecting unresolved symbols, such as enumerated data types and exported graphical

28-32
 Resolve Undefined Symbols in Your Chart

functions from other charts. However, there can be false alarms from data types
inherited from Simulink.

For information about Simulink symbol resolution, see Symbol Resolution (Simulink)
and Symbol Resolution Process (Simulink).

Resolve Undefined Data in the Symbols Window

When you edit charts, Stateflow detects symbols in your chart that you have not added as
data, events, or messages. Undefined symbols are displayed in the Symbols window with
a red error icon . When you select the error icon and choose Fix, Stateflow defines
the symbol and infers a scope, type, size, and complexity. To resolve all the undefined
symbols detected in the Symbols window, select the Resolve undefined symbols

button,

Define Chart Symbols with the Symbol Wizard

When you parse a chart, the Symbol Wizard flags unresolved symbols in your chart. The
Symbol Wizard infers the class and scope of unresolved data and events.

If the inferred scope is incorrect for any events or data, you can change the scope in the
Symbol Wizard. You can also change the class of a symbol between data and event.

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28 Build Targets

To accept, reject, or change the scope of a recommended item, perform one of these steps:

To accept an item, select the check box in front of the item.

To reject an item, clear the check box.
To change the class or scope, select a different value from the drop-down list under
Class or Scope.

After you edit the symbol definitions, click OK to add the symbols to the Stateflow
hierarchy.

Rules for Inferring the Scope of Unresolved Symbols

Stateflow follows these rules for inferring the scope of unresolved data symbols.

28-34
 Resolve Undefined Symbols in Your Chart

Unresolved Data Symbol Inferred Scope

Written to and read from in the chart Local
Read from but not written to in the chart Input
Written to but not read from in the chart Output
Contains all capital letters in the name and Parameter
is only read from but not written to in the
chart

Stateflow follows these rules for inferring the scope of unresolved event symbols.

Unresolved Event Symbol Inferred Scope

Appears only in triggers Input
Appears only in send expressions Output
Appears in both triggers and send Local
expressions

Inference of Size, Type, and Complexity

When Stateflow flags unresolved data in your chart that uses MATLAB as the action
language, the following properties are inferred along with the scope:

Size is 1 (inherited).
Type is Inherit: Same as Simulink or Inherit: From definition in
chart (for local data, and function inputs and outputs).
Complexity is Inherited.

More About
Add Stateflow Data on page 8-2
Set Data Properties on page 8-6
Type Stateflow Data on page 8-36
Size Stateflow Data on page 8-44
Detect Unused Data in the Symbols Window on page 8-4
Trace Data, Events, and Messages with the Symbols Window on page 30-7

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28 Build Targets

Parse Stateflow Charts on page 28-31

28-36
 Traceability of Stateflow Objects in Generated Code

Traceability of Stateflow Objects in Generated Code

Traceability comments provide a way to:

Verify generated code. You can identify which Stateflow object corresponds to a line of
code and keep track of code from different objects that you have or have not reviewed.
Include comments in code generated for large-scale models. You can identify objects in
generated code and avoid manually entering comments or descriptions.

To enable traceability comments, you must have Embedded Coder or HDL Coder
software. For C/C++ code generation, comments appear in the generated code for
embedded real-time (ert) based targets only.

For more information about traceability and generated C/C++ code, see Trace Code
to Model Objects by Using Hyperlinks (Embedded Coder) and Trace Model Objects
to Generated Code (Embedded Coder). For more information about traceability and
generated HDL code, see Traceability Report (HDL Coder).

28-37
28 Build Targets

Call Extrinsic Functions in a Stateflow Chart

To use extrinsic functions that are not supported for code generation within a chart
that uses MATLAB as the action language, you must use coder.extrinsic. When
you declare a function with coder.extrinisic('function_name') Stateflow
creates a call to the function during simulation. In a Stateflow chart, you only declare
coder.extrinsic once. You cannot declare reserved keywords with coder.extrinsic
(see Rules for Naming Stateflow Objects).

For charts that include atomic subcharts, you must separately declare functions that
are not supported for code generation individually with coder.extrinsic within the
atomic subchart.

To create a call for the extrinsic function heaviside, the following model uses
coder.extrinsic.

The chart contains two parallel states, A and B, and one graphical function block, foo.
State A declares the function heaviside, which is not supported for code generation,
using coder.extrinsic. State B and the graphical function block also use heaviside
without coder.extrinsic.

The input for state A is u1, a sine wave, and the input for state B is u2, a cosine wave.
The graphical function out outputs the heaviside of any input in.

28-38
 Call Extrinsic Functions in a Stateflow Chart

You only need to declare heaviside once in your chart using coder.extrinsic.
After this you can use the heaviside function anywhere within your chart without
coder.extrinsic. When generating code the functions that you declare using
coder.extrinsic will have a call to the extrinsic function, and that function will not
appear in the generated code.

To visualize the result of this chart, open the scope.

28-39
28 Build Targets

See Also
coder.extrinsic | heaviside

More About
Generate Code for Global Data (MATLAB Coder)

28-40
 Call Extrinsic Functions in a Stateflow Chart

Functions and Objects Supported for C/C++ Code Generation Alphabetical List
(Simulink)

28-41
 29

Debug and Test Stateflow Charts

Basic Approach to Debugging Charts on page 29-2

Animate Stateflow Charts on page 29-3
Set Breakpoints to Debug Charts on page 29-5
Manage Stateflow Breakpoints and Watch Data on page 29-12
Control Chart Execution from the Stateflow Editor on page 29-19
Debug Run-Time Errors in a Chart on page 29-21
Common Modeling Errors Stateflow Can Detect on page 29-25
Guidelines for Avoiding Unwanted Recursion in a Chart on page 29-33
Watch Stateflow Data Values on page 29-35
Change Data Values During Simulation on page 29-39
Monitor Test Points in Stateflow Charts on page 29-44
What You Can Log During Chart Simulation on page 29-50
Basic Approach to Logging States and Data on page 29-51
Enable Signal Logging on page 29-52
Configure States and Data for Logging on page 29-53
Access Signal Logging Data on page 29-57
View Logged Data on page 29-61
Log Data in Library Charts on page 29-62
How Stateflow Logs Multidimensional Data on page 29-67
Limitations on Logging Data on page 29-68
Commenting Stateflow Objects in a Chart on page 29-69
29 Debug and Test Stateflow Charts

Basic Approach to Debugging Charts

You can perform most debugging tasks directly from the chart in the Stateflow Editor.

1 Set breakpoints to halt execution in specific objects, such as charts, states,

transitions, graphical functions, truth table functions, local events, and input events.
(see Set Breakpoints to Debug Charts on page 29-5).
2 Add data or messages to watch during simulation in the Stateflow Breakpoints and
Watch window. See Watch Stateflow Data Values on page 29-35.
3 In the Stateflow Editor, start simulation by selecting Simulation > Run.

Execution stops at a breakpoint.

4 Set conditions on breakpoints and view watch values in the Stateflow Breakpoints
and Watch window. See Manage Stateflow Breakpoints and Watch Data on page
29-12.
5 Continue to step through the simulation (see Control Chart Execution from the
Stateflow Editor on page 29-19).

29-2
 Animate Stateflow Charts

Animate Stateflow Charts

In this section...
Set Animation Speeds on page 29-3
Maintain Highlighting on page 29-3
Disable Animation on page 29-3
Animate Stateflow Charts as Generated Code Executes on a Target System on page
29-4

Set Animation Speeds

During simulation, animation provides visual verification that your chart behaves as
you expect. Animation highlights active objects in a chart as execution progresses. You
can control the speed of chart animation during simulation, or turn animation off. In the
Stateflow editor, select Simulation > Stateflow Animation, then select:

Lightning Fast
Fast
Medium
Slow
None

Lightning Fast animation provides the fastest simulation speed by buffering the
highlights. During Lightning Fast animation, the more recently highlighted objects are
in a bolder, lighter blue. These highlights fade away as simulation time progresses.

The default animation speed, Fast, shows the active highlights at each time step. To add
a delay with each time step, set the animation speed to Medium or Slow.

Maintain Highlighting
To maintain highlighting of active states in the chart after simulation ends, select
Simulation > Stateflow Animation > Maintain Highlighting.

Disable Animation
Animation is enabled by default in Stateflow charts. To turn off animation for a chart, in
the Stateflow editor, select Simulation > Stateflow Animation > None.

29-3
29 Debug and Test Stateflow Charts

Animate Stateflow Charts as Generated Code Executes on a Target

System
If you have a Simulink Coder license, you can use external mode to establish
communication between a Simulink model and generated code downloaded to
and executing on a target system. Stateflow software can use the external mode
communication channel to animate chart states. Also, you can designate chart data of
local scope to be test points and view the test point data in floating scopes and signal
viewers.

For more information, see What You Can Do with a Host/Target Communication
Channel (Simulink Coder) and Animate Stateflow Charts in External Mode (Simulink
Coder).

29-4
 Set Breakpoints to Debug Charts

Set Breakpoints to Debug Charts

In this section...
Types of Breakpoints on page 29-5
Set a Breakpoint for a Stateflow Object on page 29-7
Visual Indication of Execution at Breakpoints on page 29-8

Types of Breakpoints
You enable debugging for a chart when you set a breakpoint. A breakpoint indicates a
point at which Stateflow halts execution of a chart that you are simulating. You can then
view Stateflow data and the MATLAB workspace to examine the status of the chart.

Depending on the type of object, you can set different breakpoints.

Object Type: Breakpoint Type:

Charts On Chart Entry Stop execution before entering the chart.
States On State Entry Stop execution before performing the state entry
actions.

During State Stop execution before performing the state during

actions.

On State Exit Stop execution after performing the state exit

actions.
Transitions When Transition is Valid Stop execution after the transition
tests valid, but before taking the transition.

When Transition is Tested Stop execution before testing the

transition to see if it is a valid path. If no condition exists on the
transition, this breakpoint is not available.
Graphical or During Function Call Stop execution before calling the function.
truth table
functions
Events Start of Broadcast Stop execution before broadcasting the event.

29-5
29 Debug and Test Stateflow Charts

Object Type: Breakpoint Type:

End of Broadcast Stop execution after a Stateflow object reads
the event.

You can set both types of breakpoints for local events, but only Start
of Broadcast for input events.

Breakpoints appear as a circular badge in the associated object. For example, the
following chart contains breakpoints on state On and the transition from On to Off.

The badge can represent one or more breakpoints on an object. Hover your cursor
over the badge to see which breakpoints are set. For example, the badge on state On
represents two breakpoints: On State Entry and During State.

29-6
 Set Breakpoints to Debug Charts

Set a Breakpoint for a Stateflow Object

To set a breakpoint on the entry to a chart, right-click inside the chart and select Set
Breakpoint on Chart Entry.

To set a breakpoint on a graphical object in a chart:

1 Right-click the object.

2 Select Set Breakpoints.
3 Choose the breakpoint type.

To set breakpoints for an event, use the Properties dialog box.

1 Open the Properties dialog box for the event.

29-7
29 Debug and Test Stateflow Charts

2 Choose the breakpoint type, and select the check box.

Clicking the breakpoint badge opens the Breakpoints dialog box. You can add or clear
breakpoints by selecting the check box next to the breakpoint type.

Selecting Manage breakpoints opens the Stateflow Breakpoints and Watch window.
In this window, you can manage conditions for all breakpoints. For each breakpoint, you
can:

Set conditions
Enable the breakpoint
Disable the breakpoint
Clear the breakpoint
View the hit count, or number of times a breakpoint has been encountered during
simulation.

For more information, see Manage Stateflow Breakpoints and Watch Data on page
29-12.

Visual Indication of Execution at Breakpoints

When simulation stops at a breakpoint, the chart provides visual indicators of active
elements and the currently executing object. The chart highlights active elements in blue
and the currently executing object in green. For example, the following chart contains a
breakpoint on entry in the HIGH state, a substate of On.

29-8
 Set Breakpoints to Debug Charts

When simulation stops at the breakpoint:

The active On state appears highlighted in blue.

29-9
29 Debug and Test Stateflow Charts

The currently executing HIGH substate appears highlighted in green, along with an
execution status badge , indicating execution stopped at state entry.

29-10
 Set Breakpoints to Debug Charts

When you hover the cursor over the badge, a tooltip is displayed, indicating:

Where execution stopped

Simulation time
Current event, if the chart is processing a local or input event

29-11
29 Debug and Test Stateflow Charts

Manage Stateflow Breakpoints and Watch Data

In this section...
Set Conditions on Breakpoints on page 29-12
Disable and Enable Breakpoints on page 29-15
View Breakpoint Hits on page 29-16
Clear Breakpoints and Watch Data on page 29-16
Format Watch Display on page 29-17
Save and Restore Breakpoints and Watch Data on page 29-18

Set Conditions on Breakpoints

In the Breakpoints tab of the Stateflow Breakpoints and Watch window, you can enter
a MATLAB expression as a condition on a Stateflow breakpoint. Simulation then pauses
on that breakpoint only when the condition is true. You can use any valid MATLAB
expression as a condition. This condition expression can include numerical values and
any Stateflow data that is in scope at the breakpoint.

Note: You cannot use message data in a breakpoint condition expression.

This example shows setting a conditional breakpoint in the model sf_car. It shows how
you can see speed increasing leading up to the car upshifting. First, set a breakpoint
on the transition from steady_state to upshifting of type When Transition is
Tested.

29-12
 Manage Stateflow Breakpoints and Watch Data

Without a condition on this breakpoint, simulation pauses every time the transition
is tested, even when the value of speed is far below up_th. To inspect the chart just
before the transition is taken, you want the software to pause simulation only when the
value of speed is approaching the value of up_th. When you set the condition speed
> up_th-2 on the breakpoint, then simulation pauses only when the value of speed
reaches within 2 of the value of up_th.

29-13
29 Debug and Test Stateflow Charts

When simulation pauses, you can view the values for the variables speed and up_th in
the Watch tab. To add each variable to the Watch tab:

1 In the chart, right-click the transition from steady_state to upshifting.

2 Select Add to Watch Window.
3 Choose the data variable name.

For more information, see Watch Stateflow Data Values on page 29-35.

29-14
 Manage Stateflow Breakpoints and Watch Data

Disable and Enable Breakpoints

Disable breakpoints to prevent them from affecting chart execution. The breakpoint
conditions are not deleted. The conditions are restored when you enable the breakpoint.
To disable an individual breakpoint, in the Breakpoints tab of the Stateflow
Breakpoints and Watch window, clear the check box next to the breakpoint name. For
example, the following chart shows a disabled breakpoint on the state steady_state.

29-15
29 Debug and Test Stateflow Charts

If all the breakpoints for a graphical object are disabled, its badge changes from red to
gray.

If there is at least one breakpoint enabled for an object, then the breakpoint badge
remains red.

To enable the breakpoint, select the box next to the breakpoint name.

To disable and enable all Stateflow breakpoints, clear or check the box at the top of the
check box column.

View Breakpoint Hits

In the Breakpoints tab, you can view the number of Hits for each breakpoint. This is
the number of times simulation has paused on each breakpoint. The breakpoints Hits
numbers resets to zero each time simulation for the model starts from the beginning, or
when the condition is changed.

Clear Breakpoints and Watch Data

You can clear Stateflow breakpoints and watch data from the Stateflow Breakpoints and
Watch window. Clearing a breakpoint removes it from the chart. Hover your cursor over

the name of the breakpoint or watch data. Click the icon that appears to the right of
the name.

29-16
 Manage Stateflow Breakpoints and Watch Data

To add breakpoints and watch data, see Set Breakpoints to Debug Charts on page 29-5
and Watch Stateflow Data Values on page 29-35.

Format Watch Display

You can change the format of watch data. Select the gear icon, . From the drop-down
list, choose the desired MATLAB format for each data type.

29-17
29 Debug and Test Stateflow Charts

For more information on the floating point and integer formats, see format (MATLAB).
For more information on fixed-point formats, see storedInteger (Fixed-Point Designer)
and double (Fixed-Point Designer).

Save and Restore Breakpoints and Watch Data

Breakpoints and watch data persist during a MATLAB session. When you close a model,
breakpoints and watch data remain in the Stateflow Breakpoints and Watch window.
During one MATLAB session, if you reopen a model, any breakpoints and watch data for
that model are restored.

You can save a snapshot of the breakpoints and watch data list, and then reload it at any
point in the current or subsequent MATLAB session. To save a snapshot, click the save

icon, , and name the snapshot file. To restore a snapshot, click the restore icon, ,
and choose the snapshot file.

29-18
 Control Chart Execution from the Stateflow Editor

Control Chart Execution from the Stateflow Editor

When you set breakpoints on chart objects, you can control chart execution directly from
the Stateflow Editor.

1 In the editor, start simulation by selecting Simulation > Run.

When simulation stops at a breakpoint:

An execution status badge appears in the graphical object where execution

pauses:

Badge Description
Execution stopped in a states during action, graphical function, or
truth table function.
Execution stopped before entering a chart or state.

Execution stopped after exiting a state.

Execution stopped before taking a valid transition.

Execution stopped before transition is tested.

Options for controlling chart execution appear in the editor tool bar and the
Simulation menu.

Option Description Icon Keyboard Shortcut

Step Over Skip the entire execution of a F10
function call and suspend the
simulation.
Step In Run the next execution step and F11
suspend the simulation.
Step Out Skip the rest of the execution of Shift+F11
a function call and suspend the
simulation.
2 Hover over the badge to see execution status.

A tooltip indicates:
29-19
29 Debug and Test Stateflow Charts

Where execution stopped

Simulation time
Current event, if the chart is processing a local or input event
3 View data values in the chart. See Watch Stateflow Data Values on page 29-35
4 Select options for continuing execution, such as Step Over, Step In, or Step Out.

Set conditions and enable/disable breakpoints in the Stateflow Breakpoints and Watch
window. For more information, see Manage Stateflow Breakpoints and Watch Data on
page 29-12.

29-20
 Debug Run-Time Errors in a Chart

Debug Run-Time Errors in a Chart

In this section...
Create the Model and the Stateflow Chart on page 29-21
Debug the Stateflow Chart on page 29-23
Correct the Run-Time Error on page 29-23

Create the Model and the Stateflow Chart

In this topic, you create a model with a Stateflow chart to debug. Follow these steps:

1 Create the following Simulink model:

2 Add the following states and transitions to your chart:

29-21
29 Debug and Test Stateflow Charts

3 In your chart, add an event Switch with a scope of Input from Simulink and a
Rising edge trigger.
4 Add a data Shift with a scope of Input from Simulink.

The chart has two states at the highest level in the hierarchy, Power_off and
Power_on. By default, Power_off is active. The event Switch toggles the system
between the Power_off and Power_on states. Power_on has three substates: First,
Second, and Third. By default, when Power_on becomes active, First also becomes
active. When Shift equals 1, the system transitions from First to Second, Second to
Third, Third to First, for each occurrence of the event Switch, and then the pattern
repeats.

29-22
 Debug Run-Time Errors in a Chart

In the model, there is an event input and a data input. A Sine Wave block generates a
repeating input event that corresponds with the Stateflow event Switch. The Step block
generates a repeating pattern of 1 and 0 that corresponds with the Stateflow data object
Shift. Ideally, the Switch event occurs at a frequency that allows at least one cycle
through First, Second, and Third.

Debug the Stateflow Chart

To debug the chart in Create the Model and the Stateflow Chart on page 29-21,
follow these steps:

1 Right-click in the chart, and select Set Breakpoint on Chart Entry.

2 Start the simulation.

Because you specified a breakpoint on chart entry, execution stops at that point.
3
Click the Step In button, .

The Step In button executes the next step and stops.

4 Continue clicking the Step In button and watching the animating chart.

After each step, watch the chart animation to see the sequence of execution.

Single-stepping shows that the chart does not exhibit the desired behavior. The
transitions from First to Second to Third inside the state Power_on are not occurring
because the transition from Power_on to Power_off takes priority. The output display
of code coverage also confirms this observation.

Correct the Run-Time Error

In Debug the Stateflow Chart on page 29-23, you step through a simulation of a
chart and find an error: the event Switch drives the simulation but the simulation time
passes too quickly for the input data object Shift to have an effect.

Correct this error as follows:

1 Stop the simulation so that you can edit the chart.

2 Add the condition [t > 20.0] to the transition from Power_on to Power_off.

29-23
29 Debug and Test Stateflow Charts

Now the transition from Power_on to Power_off does not occur until simulation
time is greater than 20.0.
3 Begin simulation again.
4 Click the Step In button repeatedly to observe the new behavior.

29-24
 Common Modeling Errors Stateflow Can Detect

Common Modeling Errors Stateflow Can Detect

In this section...
State Inconsistencies in a Chart on page 29-25
Conflicting Transitions in a Chart on page 29-26
Data Range Violations in a Chart on page 29-28
Cyclic Behavior in a Chart on page 29-29

State Inconsistencies in a Chart

Definition of State Inconsistency

States in a Stateflow chart are inconsistent if they violate any of these rules:

An active state (consisting of at least one substate) with exclusive (OR) decomposition
has exactly one active substate.
All substates of an active state with parallel (AND) decomposition are active.
All substates of an inactive state with either exclusive (OR) or parallel (AND)
decomposition are inactive.

Causes of State Inconsistency

An error occurs at compile time when the following conditions are all true:

A transition leads to a state that has exclusive (OR) decomposition and multiple
substates. There are no default paths that lead to the entry of any substate. This
condition results in a state inconsistency error. (However, if all transitions into that
state are supertransitions leading directly to the substates, there is no error.)
The state with multiple substates does not contain a history junction.

You can control the level of diagnostic action that occurs due to omission of a default
transition in the Diagnostics > Stateflow pane of the Model Configuration Parameters
dialog box. For more information, see the documentation for the No unconditional
default transitions (Simulink) diagnostic.

State Inconsistency Example

The following chart has a state inconsistency.

29-25
29 Debug and Test Stateflow Charts

In the absence of a default transition indicating which substate is to become active, the
chart has a state inconsistency error.

Adding a default transition to one of the substates resolves the state inconsistency.

Conflicting Transitions in a Chart

What Are Conflicting Transitions?

Conflicting transitions are two equally valid paths from the same source in a Stateflow
chart during simulation. In the case of a conflict, Stateflow software evaluates equally
valid transitions based on ordering mode in the chart: explicit or implicit.

For explicit ordering (the default mode), evaluation of conflicting transitions occurs
based on the order you specify for each transition. For details, see Explicit Ordering
of Outgoing Transitions on page 3-61.

29-26
 Common Modeling Errors Stateflow Can Detect

For implicit ordering in C charts, evaluation of conflicting transitions occurs based on

internal rules described in Implicit Ordering of Outgoing Transitions on page 3-64.

Example of Conflicting Transitions

The following chart has two conflicting transitions:

How the Transition Conflict Occurs

The default transition to state A assigns data a equal to 1 and data b equal to 10. The
during action of state A increments a and decrements b during each time step. The
transition from state A to state B is valid if the condition [a > 4] is true. The transition
from state A to state C is valid if the condition [b < 7] is true. During simulation,
there is a time step where state A is active and both conditions are true. This issue is a
transition conflict.
Conflict Resolution for Explicit Ordering

For explicit ordering, the chart resolves the conflict by evaluating outgoing transitions in
the order that you specify explicitly. For example, if you right-click the transition from
state A to state C and select Execution Order > 1 from the context menu, the chart
evaluates that transition first. In this case, the transition from state A to state C occurs.
Conflict Resolution for Implicit Ordering

For implicit ordering, the chart evaluates multiple outgoing transitions with equal label
priority in a clockwise progression starting from the twelve o'clock position on the state.
In this case, the transition from state A to state B occurs.

29-27
29 Debug and Test Stateflow Charts

Data Range Violations in a Chart

Types of Data Range Violations

Stateflow detects the following data range violations during simulation:

When a data object equals a value outside the range of the values set in the Initial
value, Minimum, and Maximum fields specified in the Data properties dialog box

See Set Data Properties on page 8-6 for a description of the Initial value,
Minimum, and Maximum fields in the Data properties dialog box.
When the result of a fixed-point operation overflows its bit size

See Detect Overflow for Fixed-Point Types on page 20-10 for a description of the
overflow condition in fixed-point numbers.

When you select Saturate on integer overflow for your chart, Stateflow does not flag
any cases of integer overflow during simulation. However, Stateflow continues to flag
out-of-range data violations based on minimum-and-maximum range checks. For more
information, see Impact of Saturation on Error Checks on page 8-52.

Detect Data Range Violations

To enable data range violation checking, set Simulation range checking in the
Diagnostics: Data Validity pane of the Configuration Parameters dialog box to error.

Data Range Violation Example

The following chart has a data range violation.

Assume that the data a has an Initial value and Minimum value of 0 and a Maximum
value of 2. Each time an event awakens this chart and state A is active, a increments.
The value of a quickly becomes a data range violation.

29-28
 Common Modeling Errors Stateflow Can Detect

Cyclic Behavior in a Chart

What Is Cyclic Behavior?

Cyclic behavior is a step or sequence of steps that is repeated indefinitely (recursive).

Stateflow uses cycle detection algorithms to detect a class of infinite recursions caused by
event broadcasts.

Detect Cyclic Behavior During Simulation

Cyclic behavior checking is enabled by default. To detect cyclic behavior during a

simulation:

1 Build the target with debugging enabled.

2 Confirm Simulation > Debug > MATLAB & Stateflow Error Checking Options
> Detect Cycles is checked.
3 Start the simulation.

To turn off cyclic behavior checking, uncheck Simulation > Debug > MATLAB &
Stateflow Error Checking Options > Detect Cycles.

Cyclic Behavior Example

This chart shows how an event broadcast can cause infinite recursive cycles.

29-29
29 Debug and Test Stateflow Charts

When the state C during action executes, event E1 is broadcast. The transition from
state A.A1 to state A.A2 becomes valid when event E1 is broadcast. Event E2 is
broadcast as a condition action of that transition. The transition from state B.B1 to state
B.B2 becomes valid when event E2 is broadcast. Event E1 is broadcast as a condition
action of the transition from state B.B1 to state B.B2. Because these event broadcasts of
E1 and E2 are in condition actions, a recursive event broadcast situation occurs. Neither
transition can complete.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

Flow Cyclic Behavior Not Detected Example

This chart shows an example of cyclic behavior in a flow chart that Stateflow cannot
detect.

The data object i is set to 0 in the condition action of the default transition. i increments
in the next transition segment condition action. The transition to the third connective

29-30
 Common Modeling Errors Stateflow Can Detect

junction is valid only when the condition [i < 0] is true. This condition is never true in
this flow chart, resulting in a cycle.

Stateflow cannot detect this cycle because it does not involve recursion due to event
broadcasts. Although Stateflow cannot detect cycles that depend on data values, a
separate diagnostic error does appear during simulation, for example:
Junction is part of a cycle and does not have an
unconditional path leading to termination.

For information on fixing cyclic behavior in flow charts, type the following at the
MATLAB command prompt:
sfhelp('cycle_error');

Noncyclic Behavior Flagged as a Cycle Example

This chart shows an example of noncyclic behavior that Stateflow flags as being cyclic.

State A becomes active and i is initialized to 0. When the transition is tested, the
condition [i < 5] is true. The condition actions that increment i and broadcast the
event E are executed. The broadcast of E when state A is active causes a repetitive testing
(and incrementing of i) until the condition is no longer true. Stateflow flags this behavior
as a cycle, but the so-called cycle breaks when i becomes greater than 5.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

29-31
29 Debug and Test Stateflow Charts

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

29-32
 Guidelines for Avoiding Unwanted Recursion in a Chart

Guidelines for Avoiding Unwanted Recursion in a Chart

Recursion can be useful for controlling substate transitions among parallel states at the
same level of the chart hierarchy. For example, you can send a directed event broadcast
from one parallel state to a sibling parallel state to specify a substate transition. (For
details, see Directed Event Broadcasting on page 11-52.) This type of recursive behavior
is desirable and efficient.

However, unwanted recursion can also occur during chart execution. To avoid unwanted
recursion, follow these guidelines:

Do not call functions recursively

Suppose that you have functions named f, g, and h in a chart. These functions can be
any combination of graphical functions, truth table functions, MATLAB functions, or
Simulink functions.

To avoid recursive behavior, do not:

Have f calling g calling h calling f

Have f, g, or h calling itself

Do not use undirected local event broadcasts

Follow these rules:

Use directed local event broadcasts with the syntax send(event,state). The event
is a local event in the chart and the state is the destination state that you want to
wake up using the event broadcast.
If the source of the local event broadcast is a state action, ensure that the destination
state is not an ancestor of the source state in the chart hierarchy.
If the source of the local event broadcast is a transition, ensure that the destination
state is not an ancestor of the transition in the chart hierarchy.

Also, ensure that the transition does not connect to the destination state.

If you have undirected local event broadcasts in state actions or condition actions in your
chart, a warning appears by default during simulation. Examples of state actions with
undirected local event broadcasts include:

entry: send(E1), where E1 is a local event in the chart

29-33
29 Debug and Test Stateflow Charts

exit: E2, where E2 is a local event in the chart

You can control the level of diagnostic action for undirected local event broadcasts in
the Diagnostics > Stateflow pane of the Configuration Parameters dialog box. Set the
Undirected event broadcasts diagnostic to none, warning, or error.

29-34
 Watch Stateflow Data Values

Watch Stateflow Data Values

In this section...
Watch Data in the Stateflow Breakpoints and Watch Window on page 29-35
Watch Data in the Stateflow Chart on page 29-35
Watch Stateflow Data in the MATLAB Command Window on page 29-37

Watch Data in the Stateflow Breakpoints and Watch Window

In the Watch tab of the Stateflow Breakpoints and Watch window, you can view current
data and messages when simulation pauses. The Watch tab displays a list of watch
data, and highlights the values that changed since the last time simulation paused. In
the Watch tab, you can expand a message to view the message queue and message data
values. To add Stateflow data or messages to the watch data list:

1 In the chart, right-click an object that uses the data or message.

2 Select Add to Watch Window.
3 Choose the data or message.

To add active state data and truth table data to the watch list, from the Model Explorer,
open the Data Properties dialog box. Select Add to Watch Window.

You can choose the display format for each data type. For more information, see Format
Watch Display on page 29-17.

Watch Data in the Stateflow Chart

During simulation you can hover over objects in the chart to view the value of data or
message used by the selected object. Hovering over objects in the chart provides the
following information:

For: Tooltip Shows:

States and transitions Values of data and messages used by the object
Graphical, truth table, and MATLAB Values of local data, messages, inputs and
functions outputs in the scope of the function

29-35
29 Debug and Test Stateflow Charts

For example, the following chart stops execution before entering the Debounce state.
Hovering over the transition from the Normal state to the On state shows that the value
of sw is 3.6333.

Because the value of sw is greater than zero, the chart takes the transition from Normal
to enter the Debounce state.

29-36
 Watch Stateflow Data Values

Watch Stateflow Data in the MATLAB Command Window

When simulation reaches a breakpoint, you can view the values of Stateflow data in
the MATLAB Command Window. In the following chart, a default transition calls a
MATLAB function:

A breakpoint is set at the last executable line of the function:

function stats(vals)
%#codegen

% calculates a statistical mean and standard deviation

% for the values in vals.

len = length(vals);
mean = avg(vals, len);
stdev = sqrt(sum(((vals-avg(vals,len)).^2))/len);
coder.extrinsic('plot');
plot(vals,'-+'); % Breakpoint set at this line

When simulation reaches the breakpoint, you can display Stateflow data in the MATLAB
Command Window.

1 At the MATLAB prompt, press Enter.

A debug>> prompt appears.

2 Type whos to view the data that is visible at the current scope.
3 Enter the name of data array vals at the prompt to display its value.
4 Enter vals(2:3) to view specific values of that array.

The Command Line Debugger provides these commands during simulation:

Command Description
dbstep Advance to next executable line of code.

29-37
29 Debug and Test Stateflow Charts

Command Description
dbstep [in/ When debugging MATLAB functions in a chart:
out]
dbstep [in] advances to the next executable line of code. If
that line contains a call to another function, execution continues
to the first executable line of the function.
dbstep [out] executes the rest of the function and stops just
after leaving the function.
dbcont Continue execution to next breakpoint.
dbquit (ctrl-c) Stop simulation of the model. Press Enter after this command to
return to the command prompt.
help Display help for command-line debugging.
print var Display the value of the variable var.

...or...

var
var (i) Display the value of the ith element of the vector or matrix var.
var (i:j) Display the value of a submatrix of the vector or matrix var.
save Saves all variables to the specified file. Follows the syntax of the
MATLAB save command. To retrieve variables in the MATLAB
base workspace, use the load command after simulation has ended.
whos Display the size and class (type) of all variables in the scope of the
halted MATLAB function in your chart.

You can issue any other MATLAB command at the debug>> prompt but the results are
executed in the Stateflow workspace. For example, you can issue the MATLAB command
plot(var) to plot the values of the variable var.

To issue a command in the MATLAB base workspace at the debug>> prompt, use the
evalin command with the first argument 'base' followed by the second argument
command, for example, evalin('base','whos').

Note: To return to the MATLAB base workspace, use the dbquit command.

29-38
 Change Data Values During Simulation

Change Data Values During Simulation

In this section...
How to Change Values of Stateflow Data on page 29-39
Examples of Changing Data Values on page 29-39
Limitations on Changing Data Values on page 29-42

How to Change Values of Stateflow Data

When your chart is in debug mode, you can test the simulation by changing the values of
data in the chart. After the debug>> prompt appears, as described in Watch Stateflow
Data in the MATLAB Command Window on page 29-37, you can assign a different
value to your data. To change a data value, enter the new value at the prompt using the
following format:

data_name = new_value

For a list of data that you cannot change, see Data That Is Read-Only During
Simulation on page 29-42. You cannot change message data values at the command
line.

Examples of Changing Data Values

Scalar Example

Suppose that, after the debug>> prompt appears, you enter whos at the prompt and see
the following data:

Name Size Bytes Class

airflow 1x1 1 uint8 array

temp 1x1 8 double array

To change... To this value... Enter...

airflow 2 airflow = uint8(2)
temp 68.75 temp = 68.75

29-39
29 Debug and Test Stateflow Charts

If you try to enter airflow = 2, you get an error message because MATLAB interprets
that expression as the assignment of a double value to data of uint8 type. For
reference, see Cases When Casting Is Necessary on page 29-43.

Multidimensional Example

Suppose that, after the debug>> prompt appears, you enter whos at the prompt and see
the following data:

Name Size Bytes Class

ball_interaction 16x16 256 int8 array

last_vel 16x2 256 double array
stopped 16x1 16 int16 array

To change... To this value... Enter...

The element in 1 ball_interaction(8,8)
row 8, column 8 of = int8(1)
ball_interaction
The element in row 16, 120.52 last_vel(16,1) =
column 1 of last_vel 120.52
The last element in 0 stopped(16) = int16(0)
stopped

One-based indexing applies when you change values of Stateflow data while the chart is
in debug mode.

Variable-Size Example

Suppose that, after the debug>> prompt appears, you enter whos at the prompt and see
the following data:

Name Size Bytes Class

y1 1x1 8 double array (variable sized: MAX 16x16)

y2 1x1 8 double array (variable sized: MAX 16x4)

To change... To... Enter...

y1 A 10-by-5 array of ones y1 = ones(10,5)

29-40
 Change Data Values During Simulation

To change... To... Enter...

y2 A 6-by-4 array of zeros y2 = zeros(6,4)

Changing the dimensions of variable-size data works only when the new size does not
exceed the dimension bounds.

Fixed-Point Example

Suppose that, after the debug>> prompt appears, you enter whos at the prompt and see
the following data:

Name Size Bytes Class

y_n1 1x1 2 fixpt (int16 array (2^-10)*SI)

x_n1 1x1 2 fixpt (int16 array (2^-12)*SI)

Both y_n1 and x_n1 have signed fixed-point types, with a word length of 16. y_n1 has a
fraction length of 10 and x_n1 has a fraction length of 12.

To change... To this fixed-point value... Enter...

y_n1 0.5410 y_n1 =
fi(0.5412,1,16,10)
x_n1 0.4143 x_n1 =
fi(0.4142,1,16,12)

For more information about using fi objects, see the Fixed-Point Designer
documentation.

Enumerated Example

Suppose that, after the debug>> prompt appears, you enter whos at the prompt and see
the following data:

Name Size Bytes Class

CurrentRadioMode 1x1 4 int32 array

MechCmd 1x1 4 int32 array

Assume that CurrentRadioMode and MechCmd use the enumerated types

RadioRequestMode and CdRequestMode, respectively.

29-41
29 Debug and Test Stateflow Charts

To change... To this enumerated value... Enter...

CurrentRadioMode CD CurrentRadioMode =
RadioRequestMode.CD
MechCmd PLAY MechCmd =
CdRequestMode.PLAY

You must include the enumerated type explicitly in the assignment. Otherwise, an error
appears at the debug>> prompt.

Limitations on Changing Data Values

Data That Is Read-Only During Simulation

You cannot change data of the following scopes while the chart is in debug mode:

Constant
Input

Limitations on Changing Type and Size

The following data properties cannot change:

Data type
Size

However, for variable-size data, you can change the dimensions of the data as long as the
size falls within the dimension bounds. For example, varsizedData = ones(5,7); is
a valid assignment for a variable-size 10-by-10 array.

Limitations for Fixed-Point Data

Do not assign a value that falls outside the range of values that the fixed-point type
can represent. Avoid selecting a value that causes overflow.
Sign, word length, fraction length, slope, and bias cannot change.

Limitations for Structures

You cannot change the data type or size of any fields.

Addition or deletion of fields does not work because the size of the structure cannot
change.

29-42
 Change Data Values During Simulation

Cases When Casting Is Necessary

When you change a data value, you must explicitly cast values for data of the following
built-in types:

single
int8
uint8
int16
uint16
int32
uint32

For example, the following assignments are valid:

my_data1 = uint8(2)
my_data2 = single(5.3)

Casting is not necessary when you change the value of data that is of type double.

29-43
29 Debug and Test Stateflow Charts

Monitor Test Points in Stateflow Charts

In this section...
About Test Points in Stateflow Charts on page 29-44
Set Test Points for Stateflow States and Data with the Model Explorer on page
29-44
Monitor Data Values and State Self Activity Using a Floating Scope on page 29-46

About Test Points in Stateflow Charts

A Stateflow test point is a signal that you can observe during simulation for example,
by using a Floating Scope block. You can designate the following Stateflow objects as test
points:

Any state
Local data with the following characteristics:

Can be scalar, one-dimensional, or two-dimensional in size

Can be any data type except ml
Must be a descendant of a Stateflow chart

You can specify individual data or states as test points by setting their TestPoint
property via the Stateflow API or in the Model Explorer (see Set Test Points for
Stateflow States and Data with the Model Explorer on page 29-44).

You can monitor individual Stateflow test points with a floating scope during model
simulation. You can also log test point values into MATLAB workspace objects.

You can also use active state output to view or log state activity data in Simulink. For
more information, see About Active State Data on page 22-30.

Set Test Points for Stateflow States and Data with the Model Explorer
You can explicitly set individual states, local data, and output data as test points in the
Model Explorer. The following procedure shows how to set individual test points for
Stateflow states and data.

1 Create this model:

29-44
 Monitor Test Points in Stateflow Charts

The model consists of a Sine Wave block that triggers a Stateflow chart using the
input trigger event tic.
2 Add the following states and transitions to your chart:

The state A and its substate X are entered on the first tic event. State A and
substate X stay active until 10 tic events have occurred, and then state B is entered.
On the next event, state A and substate X are entered and the cycle continues.

The data x belongs to substate X. The entry and during actions for substate
X increment x while X is active for 10 tic events. When state B is entered, x
reinitializes to zero, and then the cycle repeats.
3 Save the model with the name myModel.
4 Open the Model Configuration Parameters dialog box.

29-45
29 Debug and Test Stateflow Charts

5 In the Solver pane, specify solver options:

a Set Type to Fixed-step.

b Set Solver to discrete (no continuous states).
c Set Fixed-step size (fundamental sample time) to 0.1.
d Click OK.
6 Open the Model Explorer.
7 In the Model Explorer, expand the myModel node and then the Chart1 node.
8 Right-click A and select Properties.
9 In the Logging pane of the properties dialog box, select the Test point check box and
then click OK.

This step creates a test point for the state A.

10 Repeat the previous step for states A.X and B.
11 In the Model Explorer, select state X again.
12 Right-click the local data x and select Properties.
13 In the properties dialog box, select the Test point check box and then click OK.
14 Close the Model Explorer and save the model.

You can also log these test points. See Log Multiple Signals At Once on page 29-54
for instructions on using the Signal Logging dialog box. See Log Chart Signals Using
the Command-Line API on page 29-55 for instructions on logging signals at the
MATLAB command line.

Monitor Data Values and State Self Activity Using a Floating Scope
In this section, you configure a Floating Scope block to monitor a data value and the self
activity of a state.

1 Create this model:

29-46
 Monitor Test Points in Stateflow Charts

The model consists of a Floating Scope block and a Stateflow chart.

2 Add the following states and transitions to your chart:

The chart starts by adding an increment of 0.02 for 10 samples to the data x1. For
the next 10 samples, x1 increments by 0.2, and then the cycle repeats.
3 Save the model.
4 Open the Model Configuration Parameters dialog box.
5 In the Solver pane, specify solver options:

a Set Type to Fixed-step.

b Set Solver to discrete (no continuous states).
c Set Fixed-step size (fundamental sample time) to 0.1.
d Click OK.
6 Specify states A and B as test points:

a In the chart, right-click each state and select Properties.

b In the Logging pane of the State properties dialog box, select Test point.
c Click OK.
7 Add x1 as local data:

a Select Chart > Add Other Elements > Local Data .

b Change the name to x1.
c In the Data Properties window, set the initial value of x1 to 0.
d Click OK.

29-47
29 Debug and Test Stateflow Charts

8 Specify data x1 as a test point:

a Open the Model Explorer.

b In the Model Hierarchy pane, navigate to the chart.
c In the Contents pane, right-click x1 and select Properties.
d In the Logging pane of the Data properties dialog box, select Test point.
e Click OK.
f Close the Model Explorer.
9 Double-click the Floating Scope block to open the window.
10
In the Floating Scope window, click the Signal Selection icon .

The Signal Selector dialog box appears with a hierarchy of Simulink blocks for the
model.
11 In the Model hierarchy pane, select the chart whose signals you want to monitor
and in the List contents pane, select the signals.

12 Simulate the model.

29-48
 Monitor Test Points in Stateflow Charts

You see a signal trace for x1 and the activity of state A.

When state A is active, the signal value is 1. When that state is inactive, the signal
value is 0. Because this value can be very low or high compared to other data, you
might want to add a second Floating Scope block to compare the activity signal with
other data.

29-49
29 Debug and Test Stateflow Charts

What You Can Log During Chart Simulation

When you simulate a chart, you can log values for local data, output data, and state
self activity into Simulink objects. After simulation, you can access these objects in the
MATLAB workspace and use them to report and analyze the values.

When you log a state, its value is 1 when active and 0 when inactive.

Logging Stateflow data and state self activity follows the same general guidelines as for
logging signals in Simulink models.

See Also
Export Signal Data Using Signal Logging (Simulink).
About Active State Data on page 22-30

29-50
 Basic Approach to Logging States and Data

Basic Approach to Logging States and Data

The workflow for logging chart local data, output data, and state self activity is similar to
the workflow for logging signals in a model:

1 Enable signal logging for the chart and choose a logging format.

See Enable Signal Logging on page 29-52.

2 Configure states and data for signal logging, which includes controlling how much
output the simulation generates.

See Configure States and Data for Logging on page 29-53.

3 Simulate the chart.
4 Access the logged data.

See Access Signal Logging Data on page 29-57.

You can also use active state output to view or log state activity data in Simulink. For
more information, see About Active State Data on page 22-30.

29-51
29 Debug and Test Stateflow Charts

Enable Signal Logging

The following procedure explains how to enable signal logging for any model. For
example, try the procedure with the sf_semantics_hotel_checkin model,
which uses a chart to simulate a hotel check-in process. To open the model, type
sf_semantics_hotel_checkin at the MATLAB command prompt.

1 Open the Model Configuration Parameters dialog box.

2 Select Data Import/Export.
3 In the Signals pane, select the Signal logging check box to enable logging for the
chart.

Signal logging is enabled by default for models and charts. To disable logging, clear
the check box.
4 Optionally, specify a custom name for the signal logging object.

The default name is logsout. Using this object, you can access the logging data in a
MATLAB workspace variable.
5 Click OK.

29-52
 Configure States and Data for Logging

Configure States and Data for Logging

In this section...
Properties to Configure for Logging on page 29-53
Choose a Configuration Method for Logging on page 29-53
Log Individual States and Data on page 29-54
Log Multiple Signals At Once on page 29-54
Log Chart Signals Using the Command-Line API on page 29-55

Properties to Configure for Logging

You can configure the same properties for logging states, local data, and output data in a
chart as you can for logging signals in a model:

Property Description
Log signal data Saves the signal or states value to the MATLAB workspace during
(for data) or simulation.
Log self data
(for states)
Logging name Name of the logged signal. Defaults to the original name of the state
or data. To rename the logged signal, select Custom and enter a new
name. For guidance on when to use a different name for a logged
signal, see Specify Signal-Level Logging Name (Simulink).
Limit data Limits the amount of data logged to the most recent samples.
points to last
Decimation Limits the amount of data logged by skipping samples. For example, a
value decimation factor of 2 saves every other sample.

Choose a Configuration Method for Logging

There are several ways to configure states and data for logging:

Method When to Use

Log Individual States and Data on page Configure states, local data, or output data
29-54 for logging one at a time from inside the
chart.

29-53
29 Debug and Test Stateflow Charts

Method When to Use

Log Multiple Signals At Once on page Configure multiple signals for logging from
29-54 a list of all states and data.
Log Chart Signals Using the Command- Configure logging properties
Line API on page 29-55 programmatically.

Log Individual States and Data

The following procedure explains how to log individual states, local data, and output data
for any chart. For example, try the procedure with the sf_semantics_hotel_checkin
model, which uses a chart to simulate a hotel check-in process. To open the model, type
sf_semantics_hotel_checkin at the MATLAB command prompt.

1 Open the properties dialog box for the state or data.

For: Do This:
States Right-click the state and select Properties.
Local or Right-click the state or transition that uses the data and select
output data Explore > (data) variable_name.
2 In the properties dialog box, click the Logging tab.
3 Modify properties as needed.

For example, from the Hotel chart of the sf_semantics_hotel_checkin model:

1 Open the properties dialog box for the service local data and select the Log signal
data check box.
2 Open the properties dialog box for the Dining_area state, select the Log self
activity check box, and change the logging name to Dining_Room.

Log Multiple Signals At Once

The following procedure explains how to log multiple signals at once for any chart.
For example, try the procedure with the sf_semantics_hotel_checkin model,
which uses a chart to simulate a hotel check-in process. To open the model, type
sf_semantics_hotel_checkin at the MATLAB command prompt.

1 In the chart, select Simulation > Output > Log Chart Signals.

29-54
 Configure States and Data for Logging

The Stateflow Signal Logging dialog box opens, showing all states, local, and output
data. These chart objects are the signals you can log.
2 Select the check box next to each signal you want to log.

The Log signal data check box is selected automatically for each signal you log.
For example, in the Hotel chart of the sf_semantics_hotel_checkin model, log the
Check_in.Checked_in.Executive_suite.Dining_area state and local variable
service:

3 For each signal you select, modify the properties of what gets captured in the log.

For example, change the logging name of

Check_in.Checked_in.Executive_suite.Dining_area to Dining_Room.

Log Chart Signals Using the Command-Line API

The following procedure explains how to log chart signals from the command line.

1 Open the model that contains the chart.

29-55
29 Debug and Test Stateflow Charts

For example, open the sf_semantics_hotel_checkin model, which has a chart called
Hotel.
2 Get the states whose activity you want to log.

For example, get the Dining_area state in the Hotel chart:

rt = sfroot;
da_state = rt.find('-isa','Stateflow.State','Name','Dining_area');

Get the data you want to log.

For example, get the service local data in the Hotel chart:
svc_data = rt.find('-isa','Stateflow.Data','Name','service');

3 Enable logging for states and data.

For example, enable logging for the Dining_area state and the service data:
da_state.LoggingInfo.DataLogging = 1;
svc_data.LoggingInfo.DataLogging = 1;

4 Modify logging properties as needed.

For example, change the logged name of the Dining_area state. By

default, the logged name is the hierarchical signal name, which is
Check_in.Checked_in.Executive_suite.Dining_area. To assign the shorter,
custom name of Dining_Room:
% Enable custom naming
da_state.LoggingInfo.NameMode = 'Custom';

% Enter the custom name

da_state.LoggingInfo.UserSpecifiedLogName = 'Dining_Room';

Related Examples
Configure a Signal for Logging (Simulink)

More About
Logging and Accessibility Options (Simulink)

29-56
 Access Signal Logging Data

Access Signal Logging Data

In this section...
Signal Logging Object on page 29-57
Access Logged Data on page 29-57

Signal Logging Object

During simulation, Stateflow saves logged data in a signal logging object,
which you can access in the MATLAB workspace. The signal logging object is a
Simulink.SimulationData.Dataset object.

The default name of the signal logging object is logsout.

See Also

Enable Signal Logging on page 29-52 to learn how to change the name of the signal
logging object
Simulink.SimulationData.Dataset reference page

Access Logged Data

The following procedure explains how to access signal logging data in for a chart.
For example, try the procedure with the sf_semantics_hotel_checkin model,
which uses a chart to simulate a hotel check-in process. To open the model, type
sf_semantics_hotel_checkin at the MATLAB command prompt. Enable logging as
described in Configure States and Data for Logging on page 29-53.

1 View the signal logging object in the MATLAB environment.

For example:

a Start simulating the sf_semantics_hotel_checkin model using the

Dataset signal logging format.
b When the Front_desk state becomes active, check in to the hotel by toggling
the first switch.
c When the Bedroom state in the Executive_suite state becomes active, order
room service multiple times, for example, by toggling the second switch 10 times.
d Stop simulation.

29-57
29 Debug and Test Stateflow Charts

e Enter:
logsout

Result:
Simulink.SimulationData.Dataset
Package: Simulink.SimulationData

Characteristics:
Name: 'logsout'
Total Elements: 2

Elements:
1: 'Dining_Room'
2: 'service'

The output indicates:

logsout is a Simulink object of type SimulationData.Dataset.

Two elements were logged.
2 Use the getElement method to access logged elements by index and by name.

For example:

To access logged activity for the

Check_in.Checked_in.Executive_suite.Dining_area state:

By: Enter:
Index logsout.getElement(1)
Name logsout.getElement('Dining_Room')
Block path a logsout.getElement(1).BlockPath

Returns:

Block Path: 'sf_semantics_hotel_checkin/Hotel'

SubPath: 'Check_in.Checked_in.Executive_suite.Dining_area'
b bp = Simulink.BlockPath('sf_semantics_hotel_checkin/Hotel');
c bp.SubPath =
'Check_in.Checked_in.Executive_suite.Dining_area';

29-58
 Access Signal Logging Data

By: Enter:
d logsout.getElement(bp)

The result is a Stateflow.SimulationData.State object:

Stateflow.SimulationData.State
Package: Stateflow.SimulationData

Properties:
Name: 'Dining_Room'
BlockPath: [1x1 Simulink.SimulationData.BlockPath]
Values: [1x1 timeseries]
To access logged activity for the service local data:

By: Enter:
Index logsout.getElement(2)
Name logsout.getElement('service')
Block path a logsout.getElement(2).BlockPath

Returns:

Block Path: 'sf_semantics_hotel_checkin/Hotel'

SubPath: 'service'
b bp = Simulink.BlockPath('sf_semantics_hotel_checkin/Hotel');
c bp.SubPath = 'service';
d logsout.getElement(bp)

The result is a Stateflow.SimulationData.Data object:

Stateflow.SimulationData.Data
Package: Stateflow.SimulationData

Properties:
Name: 'service'
BlockPath: [1x1 Simulink.SimulationData.BlockPath]
Values: [1x1 timeseries]

29-59
29 Debug and Test Stateflow Charts

The logged values for Stateflow.SimulationData.State and

Stateflow.SimulationData.Data objects are stored in the Values property as
Simulink objects of type Timeseries.
3 Access logged data and time through the Values property.

For example:

For: Enter:
Data logsout.getElement(1).Values.Data;
Time logsout.getElement(1).Values.Time;
4 View the logged data.

See View Logged Data on page 29-61.

29-60
 View Logged Data

View Logged Data

You can view logged data in a figure window, for example, by using the plot function.

You can also view logged data in a spreadsheet. For example, pass a numeric, cell, or
logical array of logged values to the xlswrite function.

Try this approach with the sf_semantics_hotel_checkin model, which

uses a chart to simulate a hotel check-in process. To open the model, type
sf_semantics_hotel_checkin at the MATLAB command prompt. Enable logging as
described in Configure States and Data for Logging on page 29-53 and simulate the
model.

View logged activity over time in Dataset format for the

Check_in.Checked_in.Executive_suite.Dining_area state:

1 Assign logged Dining_Room time and data values to an array A:

A = [logsout.getElement('Dining_Room').Values.Time ...
logsout.getElement('Dining_Room').Values.Data];
2 Export the data to an Excel file named dining_log.xls:

xlswrite('dining_log.xls',A);
3 Open dining_log.xls in Excel.

29-61
29 Debug and Test Stateflow Charts

Log Data in Library Charts

In this section...
How Library Log Settings Influence Linked Instances on page 29-62
Override Logging Properties in Chart Instances on page 29-62
Override Logging Properties in Atomic Subcharts on page 29-62

How Library Log Settings Influence Linked Instances

Chart instances inherit logging properties from the library chart to which they are
linked. You can override logging properties in the instance, but only for signals you select
in the library. You cannot select additional signals to log from the instance.

Override Logging Properties in Chart Instances

To override properties of logged signals in chart instances, use one of the following
approaches.

Approach How To Use

Simulink Signal See Override Logging Properties with the Logging Selector on
Logging Selector page 29-62
dialog box
Command-line See Override Logging Properties with the Command-Line API
interface on page 29-64

Override Logging Properties in Atomic Subcharts

This example uses sf_atomic_sensor_pair. This model simulates a redundant sensor
pair as atomic subcharts Sensor1 and Sensor2 in the chart RedundantSensors.
Each atomic subchart contains instances of the states Fail, FailOnce, and OK from the
library chart sf_atomic_sensor_lib.

Override Logging Properties with the Logging Selector

1 Open the example library by typing sf_atomic_sensor_lib at the MATLAB

command prompt.

29-62
 Log Data in Library Charts

2 Unlock the library by selecting Diagram > Unlock Library.

3 In the SingleSensor chart, select Simulation > Output > Log Chart Signals.
4 In Stateflow Signal Logging dialog box, set the following logging properties, then
click OK.

For Signal: What to Specify:

Fail Select the Log signal data check box.
Change Logging name to the custom name LogFail.
Click Apply.
FailOnce Select the Log signal data check box.
Change Logging name to the custom name LogFailOnce.
Click Apply.
OK Select the Log signal data check box.
Change Logging name to the custom name LogOK.
Click Apply.
5 Open the model that contains instances of the library chart by typing
sf_atomic_sensor_pair at the MATLAB command prompt.
6 Open the Model Configuration Parameters dialog box.
7 In the Data Import/Export pane, click Configure Signals to Log to open the
Simulink Signal Logging Selector.
8 In the Model Hierarchy pane, expand RedundantSensors, and click Sensor1 and
Sensor2.

Each instance inherits logging properties from the library chart. For example:

9 Now, override some logging properties for Sensor1:

a In the Model Hierarchy pane, select Sensor1.

b Change Logging Mode to Override signals.

The selector clears all DataLogging check boxes for the model.

29-63
29 Debug and Test Stateflow Charts

c Enable logging only for the Fail and FailOnce states in Sensor1:

Select DataLogging for these two signals. Leave DataLogging cleared for the
OK signal.
d Append the text Sensor1 to the logging names for Fail and FailOnce:

Double-click the logging names for signals Fail and FailOnce, and rename
them LogFailSensor1 and LogFailOnceSensor1, respectively.

The settings should look like this:

Override Logging Properties with the Command-Line API

1 Open the example library by typing sf_atomic_sensor_lib at the MATLAB

command prompt.
2 Log the signals Fail, FailOnce, and OK in the SingleSensor chart using these
commands:
% Get states in the SingleSensor chart
rt=sfroot;
states = rt.find('-isa', 'Stateflow.State');

% Enable logging for each state

for i = 1: length(states)
states(i).LoggingInfo.DataLogging = 1;
end

3 Open the model that contains instances of the library chart by typing
sf_atomic_sensor_pair at the MATLAB command prompt.
4 Create a ModelLoggingInfo object for the model.

This object contains a vector Signals that stores all logged signals.
mi = Simulink.SimulationData.ModelLoggingInfo. ...
createFromModel('sf_atomic_sensor_pair')

The result is:

29-64
 Log Data in Library Charts

mi =

Simulink.SimulationData.ModelLoggingInfo
Package: Simulink.SimulationData

Properties:
Model: 'sf_atomic_sensor_pair'
LoggingMode: 'OverrideSignals'
LogAsSpecifiedByModels: {}
Signals: [1x6 Simulink.SimulationData.SignalLoggingInfo]

The Signals vector contains the signals marked for logging in the library chart:

Library instances of Fail, FailOnce, and OK states in atomic subchart Sensor1

Library instances of Fail, FailOnce, and OK states in atomic subchart Sensor2
5 Make sure that LoggingMode equals 'OverrideSignals'.
6 Create a block path to each logged signal whose properties you want to override.

To access signals inside Stateflow charts, use

Simulink.SimulationData.BlockPath(paths, subpath), where subpath
represents a signal inside the chart.

To create block paths for the signals Fail, FailOnce, and OK in the atomic subchart
Sensor1 in the RedundantSensors chart:

failPath = Simulink.SimulationData. ...

BlockPath('sf_atomic_sensor_pair/RedundantSensors/Sensor1','Fail')

failOncePath = Simulink.SimulationData. ...

BlockPath('sf_atomic_sensor_pair/RedundantSensors/Sensor1','FailOnce')

OKPath = Simulink.SimulationData. ...

BlockPath('sf_atomic_sensor_pair/RedundantSensors/Sensor1','OK')

7 Get the index of each logged signal in the Simulink.SimulationData.BlockPath

object.

To get the index for the signals Fail, FailOnce, and OK:

failidx = mi.findSignal(failPath);
failOnceidx = mi.findSignal(failOncePath);
OKidx = mi.findSignal(OKPath);

8 Override some logging properties for the signals in Sensor1:

a Disable logging for signal OK:

mi.Signals(OKidx).LoggingInfo.DataLogging = 0;

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29 Debug and Test Stateflow Charts

b Append the text Sensor1 to the logging names for Fail and FailOnce:

% Enable custom naming

mi.Signals(failidx).LoggingInfo.NameMode = 1;
mi.Signals(failOnceidx).LoggingInfo.NameMode = 1;

% Enter the custom name

mi.Signals(failidx).LoggingInfo.LoggingName = 'LogFailSensor1';
mi.Signals(failOnceidx).LoggingInfo.LoggingName = 'LogFailOnceSensor1';

9 Apply the changes:

set_param(bdroot, 'DataLoggingOverride', mi);

See Also

Simulink.SimulationData.ModelLoggingInfo
Simulink.SimulationData.BlockPath

29-66
 How Stateflow Logs Multidimensional Data

How Stateflow Logs Multidimensional Data

Stateflow logs each update to a multidimensional signal as a single change. For example,
an update to a 2-by-2 matrix A during simulation is logged as a single change, not as four
changes (one for each element):

Update Is Logged As
A = 1; A single change, even though the statement implies
all A[i] = 1
A[1][1] = 1; Two different changes
A[1][2] = 1;

29-67
29 Debug and Test Stateflow Charts

Limitations on Logging Data

If active state output is enabled for a state, then logging through Stateflow is
unavailable. The state activity data will be output to Simulink, and it can be logged in
Simulink instead. For more information, see About Active State Data on page 22-30
and Export Signal Data Using Signal Logging (Simulink).

29-68
 Commenting Stateflow Objects in a Chart

Commenting Stateflow Objects in a Chart

In this section...
Comment Out a Stateflow Object on page 29-69
How Commenting Affects the Chart and Model on page 29-69
Add Text to a Commented Object on page 29-71
Limitations on Commenting Objects on page 29-71

Comment Out a Stateflow Object

Commenting out a Stateflow object excludes it from simulation. To comment out a
Stateflow object, right-click the object and select Comment Out. Use commenting to:

Debug a chart by making minor changes between simulation runs.

Test and verify the effects of objects on simulation results.
Create incremental changes for rapid, iterative design.

How Commenting Affects the Chart and Model

A commented object is not visible to the rest of the chart and the model. Commented
objects in a chart are excluded from:

Simulation
Logging
Code generation
Animation
Debugging
Active state output

When a chart is parsed, references to commented functions or states result in errors.

When you explicitly comment out a Stateflow object with Comment Out, the object

appears gray with a badge . The software implicitly comments out some associated
objects. Implicitly commented objects also appear gray, but do not have a badge. For
example, if you explicitly comment out a state or junction, all incoming and outgoing
transitions are implicitly commented out. In the image of sf_car below, steady_state

29-69
29 Debug and Test Stateflow Charts

is explicitly commented. The transitions in and out of steady_state are implicitly

commented.

Explicitly Commented Stateflow Object Implicit Results

States All incoming and outgoing transitions, and
child objects are implicitly commented out.
Transitions None
Junctions All connected transitions are implicitly
commented out.
Functions The software cannot invoke a commented
function from any chart or model.
Data You cannot explicitly comment out data. If
you comment out the parent object, then the
software cannot reference the data.

29-70
 Commenting Stateflow Objects in a Chart

Explicitly Commented Stateflow Object Implicit Results

Events You cannot explicitly comment out events. If
you comment out the parent object, then the
software cannot reference the event.

To uncomment an object, right-click the commented object and select Uncomment. All
implicitly commented objects are restored as well. Implicitly commented objects cannot
be uncommented directly.

Add Text to a Commented Object

Add a note to the commented object by clicking the badge . Hover your cursor over
a badge to see the associated comments. You cannot add notes to implicitly commented
objects.

Limitations on Commenting Objects

When you comment out an atomic subchart, the objects inside the chart do not appear
implicitly commented. However, a commenting badge is displayed in the lower-left corner
of the chart.

29-71
 30

Explore and Modify Charts

Manage Stateflow Data, Events, and Messages in the Symbols Window on page
30-2
Add and Modify Data, Events, and Messages in the Symbols Window on page
30-5
Trace Data, Events, and Messages with the Symbols Window on page 30-7
Use the Model Explorer with Stateflow Objects on page 30-10
Use the Search & Replace Tool on page 30-15
30 Explore and Modify Charts

Manage Stateflow Data, Events, and Messages in the Symbols

Window
In the Symbols window, you can view and manage data, events, and messages while
working in the Stateflow editor. To open the Symbols window, select View > Symbols.
From the Symbols window you can:

Add and delete data, events, and messages.

Set the object type and scope.
Change the port number.
Edit the name of an object and update all instances of the object name in the chart.
Undo and redo changes in type, name, and port number.
Detect unused objects.
Detect and fix unresolved objects.
Trace between objects in the window and where the objects are used in the chart.
View and edit object properties in the Property Inspector.

30-2
 Manage Stateflow Data, Events, and Messages in the Symbols Window

The rows in the Symbols window display object hierarchy. Expand an object in the
window to see data, events, and messages parented by that object. By default, all the
nongraphical objects in a chart are listed in the window. To view only the objects that

are used at the current level of hierarchy and below, select the icon. To search for
specific symbols, type in the Filter search box .

More About
Add and Modify Data, Events, and Messages in the Symbols Window on page
30-5
Trace Data, Events, and Messages with the Symbols Window on page 30-7
Detect Unused Data in the Symbols Window on page 8-4
Set Data Properties on page 8-6
Resolve Undefined Symbols in Your Chart on page 28-32

30-3
30 Explore and Modify Charts

Best Practices for Using Data in Charts on page 8-63

Configure Data Properties by Using a Table (Simulink)

30-4
 Add and Modify Data, Events, and Messages in the Symbols Window

Add and Modify Data, Events, and Messages in the Symbols

Window
To add a nongraphical object to a Stateflow block, in the Symbols window:

1 Select one of these icons.

Object Icon
Data

Event

Message

2 In the row for the new object, under TYPE, choose the object type.
3 Edit the name of the object.
4 For input and output objects, under PORT, choose a port number.
5 To view the object in the Property Inspector, right-click the object and select
Inspect.
6 In the Property Inspector, modify the object properties.

After you add objects through the Symbols window, the objects appear as unused until
you reference them in your Stateflow design.

In the Symbols window, you can modify the name, type, and port number of Stateflow
objects. Edit the name of objects in the Symbols window in the NAME field. When
you rename an object, select Shift+Enter to rename all instances of the object
throughout the state machine. To change the type or port number of an object, click the
corresponding field and select from the available options. To delete an object from the
state machine, right-click and select Delete. To undo and redo these changes, use the
Edit menu.

Symbols Window Limitations

You cannot add the types of objects listed in the table via the Symbols window. To add
these types of objects, use the Model Explorer. As a best practice, avoid using machine-
parented data.

30-5
30 Explore and Modify Charts

Object Add via Symbols window Visible in Symbols window

Data, events, and messages No Yes
parented by a state
Data, events, and messages No Yes
inside a function
Data and events parented No No
by the state machine

Additional limitations

When you modify the code in a MATLAB function, the changes are not updated in the
Symbols window until after you save the MATLAB function.
You cannot undo and redo changes to input and output for MATLAB functions.
You cannot undo deleted data, events, or messages from a state transition table.
You cannot undo scope changes to data parented by graphical functions, MATLAB
functions, and truth tables.

More About
Manage Stateflow Data, Events, and Messages in the Symbols Window on page
30-2
Trace Data, Events, and Messages with the Symbols Window on page 30-7
Configure Data Properties by Using a Table (Simulink)
Model Editing Environment (Simulink)

30-6
 Trace Data, Events, and Messages with the Symbols Window

Trace Data, Events, and Messages with the Symbols Window

Stateflow provides traceability between the state machine and nongraphical symbols.
When you select objects in the Symbols window, Stateflow highlights sections of the
state machine that use those objects. For example, open the model sf_tetris2 and
double-click the chart TetrisLogic. In the Symbols window, when you select constant
ARENA_HEIGHT, the states and functions that use ARENA_HEIGHT are highlighted in
blue. If the chart does not use an object, it appears in the window with a yellow warning

icon .

To see the uses of the constant ARENA_HEIGHT inside, open the function freeze.

30-7
30 Explore and Modify Charts

You can also select a graphical object such a state, transition, or function in the chart and
view the symbols that the object uses. For example, in the chart TetrisLogic, expand
the symbol MainArea in the Symbols window. If you select the state FreezeShape in
the chart, then the local data shape and the function freeze() are highlighted in the
Symbols window. This highlighting indicates that those objects are used inside the state
FreezeShape.

30-8
 Trace Data, Events, and Messages with the Symbols Window

More About
Detect Unused Data in the Symbols Window on page 8-4
Manage Stateflow Data, Events, and Messages in the Symbols Window on page
30-2
Add and Modify Data, Events, and Messages in the Symbols Window on page 30-5
Resolve Undefined Symbols in Your Chart on page 28-32

30-9
30 Explore and Modify Charts

Use the Model Explorer with Stateflow Objects

In this section...
View Stateflow Objects in the Model Explorer on page 30-10
Edit Chart Objects in the Model Explorer on page 30-11
Add Data and Events in the Model Explorer on page 30-11
Rename Objects in the Model Explorer on page 30-12
Set Properties for Chart Objects in the Model Explorer on page 30-12
Move and Copy Data and Events in the Model Explorer on page 30-13
Change the Port Order of Input and Output Data and Events on page 30-14
Delete Data and Events in the Model Explorer on page 30-14

View Stateflow Objects in the Model Explorer

You can use one of these methods for opening the Model Explorer:

In the Stateflow Editor, select View > Model Explorer.

Right-click an empty area in the chart and select Explore.

The Model Explorer appears something like this:

30-10
 Use the Model Explorer with Stateflow Objects

The main window has two panes: a Model Hierarchy pane on the left and a Contents
pane on the right. When you open the Model Explorer, the Stateflow object you are
editing appears highlighted in the Model Hierarchy pane and its objects appear in the
Contents pane. This example shows how the Model Explorer appears when opened from
the chart.

The Model Hierarchy pane displays the elements of all loaded Simulink models, which
includes Stateflow charts. A preceding plus (+) character for an object indicates that
you can expand the display of its child objects by double-clicking the entry or by clicking
the plus (+). A preceding minus (-) character for an object indicates that it has no child
objects.

Clicking an entry in the Model Hierarchy pane selects that entry and displays its child
objects in the Contents pane. A hypertext link to the currently selected object in the
Model Hierarchy pane appears after the Contents of: label at the top of the Contents
pane. Click this link to display that object in its native editor. In the preceding example,
clicking the link sfbus_demo/Chart displays the contents of the chart in its editor.

Each type of object, whether in the Model Hierarchy or Contents pane, appears with
an adjacent icon. Subcharted objects (states, boxes, or graphical functions) appear altered
with shading.

The display of child objects in the Contents pane includes properties for each object,
most of which are directly editable. You can also access the properties dialog box for
an object from the Model Explorer. See Set Properties for Chart Objects in the Model
Explorer on page 30-12 for more details.

Edit Chart Objects in the Model Explorer

To edit a chart object that appears in the Model Hierarchy pane of the Model Explorer:

1 Right-click the object.

2 Select Open from the context menu.

The selected object appears highlighted in the chart.

Add Data and Events in the Model Explorer

To add data or events using the Model Explorer, see the following links:

Add Data Through the Model Explorer on page 8-3

30-11
30 Explore and Modify Charts

Add Events with the Model Explorer on page 9-5

Rename Objects in the Model Explorer

To rename a chart object in the Model Explorer:

1 Right-click the object row in the Contents pane of the Model Explorer and select
Rename.

The name of the selected object appears in a text edit box.

2 Change the name of the object and click outside the edit box.

Set Properties for Chart Objects in the Model Explorer

To change the property of an object in the Contents pane of the Model Explorer:

1 In the Contents pane, click in the row of the displayed object.

2 Click an individual entry for a property column in the highlighted row.

For text properties, such as the Name property, a text editing field with the
current text value overlays the displayed value. Edit the field and press the
Return key or click anywhere outside the edit field to apply the changes.
For properties with enumerated entries, such as the Scope, Trigger, or Type
properties, select from a drop-down combo box that overlays the displayed value.
For Boolean properties (properties that are set on or off), select or clear the box
that appears in place of the displayed value.

To set all the properties for an object displayed in the Model Hierarchy or Contents
pane of the Model Explorer:

1 Right-click the object and select Properties.

The properties dialog box for the object appears.

2 Edit the appropriate properties and click Apply or OK.

To display the properties dialog box dynamically for the selected object in the Model
Hierarchy or Contents pane of the Model Explorer:

1 Select View > Show Dialog Pane.

30-12
 Use the Model Explorer with Stateflow Objects

The properties dialog box for the selected object appears in the far right pane of the
Model Explorer.

Move and Copy Data and Events in the Model Explorer

Note: If you move an object to a level in the hierarchy that does not support the Scope
property for that object, the Scope automatically changes to Local.

To move data and event objects to another parent:

1 Select the data or event to move in the Contents pane of the Model Explorer.

You can select a contiguous block of items by highlighting the first (or last) item in
the block and then using Shift + click for highlighting the last (or first) item.
2 Click and drag the highlighted objects from the Contents pane to a new location in
the Model Hierarchy pane to change its parent.

A shadow copy of the selected objects accompanies the mouse cursor during
dragging. If no parent is chosen or the parent chosen is the current parent, the
mouse cursor changes to an X enclosed in a circle, indicating an invalid choice.

To cut or copy the selected data or event:

1 Select the event or data to cut or copy in the Contents pane of the Model Explorer.
2 In the Model Explorer, select Edit > Cut or Edit > Copy.

If you select Cut, the selected items are deleted and then copied to the clipboard for
copying elsewhere. If you select Copy, the selected items are left unchanged.

You can also right-click a single selection and select Cut or Copy from the context
menu. The Model Explorer also uses the keyboard equivalents of Ctrl+X (Cut) and
Ctrl+C (Copy) on a computer running the UNIX or Windows operating system.
3 Select a new parent object in the Model Hierarchy pane of the Model Explorer.
4 Select Edit > Paste. The cut items appear in the Contents pane of the Model
Explorer.

You can also paste the cut items by right-clicking an empty part of the Contents
pane and selecting Paste from the context menu. The Model Explorer also uses the

30-13
30 Explore and Modify Charts

keyboard equivalent of Ctrl+V (Paste) on a computer running the UNIX or Windows

operating system.

Change the Port Order of Input and Output Data and Events
Input data, output data, input events, and output events each have numerical sequences
of port index numbers. You can change the order of indexing for event or data objects
with a scope of Input to Simulink or Output to Simulink in the Contents pane of the
Model Explorer as follows:

1 Select one of the input or output data or event objects.

2 Click the Port property for the object.
3 Enter a new value for the Port property for the object.

The remaining objects in the affected sequence are automatically assigned a new
value for their Port property.

Delete Data and Events in the Model Explorer

Delete data and event objects in the Contents pane of the Model Explorer as follows:

1 Select the object.

2 Press the Delete key.

You can also select Edit > Cut or Ctrl+X from the keyboard to delete an object.

30-14
 Use the Search & Replace Tool

Use the Search & Replace Tool

In this section...
Open the Search & Replace Tool on page 30-15
Refine Searches on page 30-17
Specify the Search Scope on page 30-19
Use the Search Button and View Area on page 30-20
Specify the Replacement Text on page 30-23
Use Replace Buttons on page 30-24
Search and Replace Messages on page 30-24

Open the Search & Replace Tool

To open the Search & Replace dialog box:

1 Open a chart.
2 Select Edit > Find & Replace in Chart.

30-15
30 Explore and Modify Charts

The Search & Replace dialog box contains the following fields:

Search for

Enter search pattern text in the Search for text box. You can select the
interpretation of the search pattern with the Match case check box and the Match
options field (unlabeled and just to the right of the Search in field).
Match case

If you select this check box, the search is case sensitive and the Search & Replace tool
finds only text matching the search pattern exactly.
Replace with

Specify the text to replace the text found when you select any of the Replace buttons
(Replace, Replace all, Replace all in this object). See Use Replace Buttons on
page 30-24.

30-16
 Use the Search & Replace Tool

Preserve case

This option modifies replacement text. For an understanding of this option, see
Replacing with Case Preservation on page 30-23.
Search in

By default, the Search & Replace tool searches for and replaces text only within the
current Stateflow chart that you are editing in the Stateflow Editor. You can select to
search the machine owning the current Stateflow chart or any other loaded machine
or chart by accessing this selection box.
Match options

This field is unlabeled and just to the right of the Search in field. You can modify
the meaning of your search text by entering one of the selectable search options. See
Refine Searches on page 30-17.
Object types and Field types

Under the Search in field are the selection boxes for Object types and Field types.
These selections further refine your search and are described below.
Search and Replace buttons

These are described in Use the Search Button and View Area on page 30-20 and
Use Replace Buttons on page 30-24.
View Area

The bottom half of the Search & Replace dialog box displays the result of a search.
This area is described in A Breakdown of the View Area on page 30-21.

Refine Searches
Enter search pattern text in the Search for text box. You can use one of the following
settings to further refine the meaning of the text entered.

Match case

By selecting the Match case option, you enable case-sensitive searching. In this case,
the Search & Replace tool finds only text matching the search pattern exactly.

By clearing the Match case option, you enable case-insensitive searching. In this
case, search pattern characters entered in lower- or uppercase find matching text with

30-17
30 Explore and Modify Charts

the same sequence of base characters in lower- or uppercase. For example, the search
entry"AnDrEw" finds the matching text "andrew" or "Andrew" or "ANDREW".

Preserve case

This option modifies replacement text and not search text. For details, see Replacing
with Case Preservation on page 30-23.

Contains word

Select this option to specify that the search pattern text is a whole word expression used
in a Stateflow chart with no specific beginning and end delimiters. In other words, find
the specified text in any setting.

Suppose that you have a state with this label and entry action:
throt_fail
entry: fail_state[THROT] = 1;

Searching for the text fail with the Contains word option finds two occurrences of
fail.

Match whole word

Select this option to specify that the search pattern in the Search for field is a whole
word expression used in a Stateflow chart with beginning and end delimiters consisting
of a blank space or a character that is not alphanumeric and not an underscore character
(_).

In the previous example of a state named throt_fail, if Match whole word is

selected, searching for fail finds no text within that state. However, searching for
"fail_state" does find the text "fail_state" as part of the second line since it is
delimited by a space at the beginning and a left square bracket ([) at the end.

Regular expression

Set the Match options field to Regular expression to search for text that varies from
character to character within defined limits.

A regular expression is text composed of letters, numbers, and special symbols that
defines one or more candidates. Some characters have special meaning when used in
a regular expression, while other characters are interpreted as themselves. Any other
character appearing in a regular expression is ordinary, unless a back slash (\) character
precedes it.

30-18
 Use the Search & Replace Tool

If the Match options field is set to Regular expression in the previous example of a
state named throt_fail, searching for "fail_" matches the "fail_" text that is part
of the second line, character for character. Searching with the regular expression "\w*_"
also finds the text "fail_". This search uses the regular expression shorthand "\w"
that represents any part-of-word character, an asterisk (*) that represents any number of
any characters, and an underscore (_) that represents itself.

For a list of regular expression meta characters, see Regular Expressions (MATLAB).

Specify the Search Scope

You specify the scope of your search by selecting from the field regions discussed in the
topics that follow.

Search in

You can select a whole machine or individual chart for searching in the Search in field.
By default, the current chart in which you opened the Search & Replace tool is selected.

To select a machine, follow these steps:

1 Select the down arrow of the Search in field.

A list of the currently loaded machines appears with the current machine expanded
to reveal its Stateflow charts.
2 Select a machine.

To select a Stateflow chart for searching, follow these steps:

1 Select the down arrow of the Search in field again.

This list contains the previously selected machine expanded to reveal its Stateflow
charts.
2 Select a chart from the expanded machine.

Object Types

Limit your search by deselecting one or more object types.

Note: You cannot search in state transition tables with this tool.

30-19
30 Explore and Modify Charts

Field Types

Limit your search by deselecting one or more field types.

Available field types are as follows.

Names

Machines, charts, data, and events have valid Name fields. States have a Name defined
as the top line of their labels. You can search and replace text belonging to the Name
field of a state in this sense. However, if the Search & Replace tool finds matching text in
a state's Name field, the rest of the label is subject to later searches for the specified text
whether or not the label is chosen as a search target.

Note: The Name field of machines and charts is an invalid target for the Search &
Replace tool. Use the Simulink model window to change the names of machines and
charts.

Labels

Only states and transitions have labels.

Descriptions

All objects have searchable Description fields.

Document links

All objects have searchable Link fields.

Use the Search Button and View Area

This topic contains the following subtopics:

A Breakdown of the View Area on page 30-21

The Search Order on page 30-22

Click Search to initiate a single-search operation. If an object match is made, its text
fields appear in the Viewer pane in the middle of the Search & Replace dialog box. If
the object is graphical (state, transition, junction, chart), the matching object appears
highlighted in a Portal pane below the Viewer pane.

30-20
 Use the Search & Replace Tool

A Breakdown of the View Area

The view area of the Search & Replace dialog box displays matching text and its
containing object, if viewable. In the previous example, taken from the sf_pool
model, a search for the word "friction" finds the Description field for the state
TotalDynamics. The resulting view area consists of these parts:

30-21
30 Explore and Modify Charts

Icon

Displays an icon appropriate to the object containing the matching text. These icons are
identical to the icons in the Model Explorer that represent Stateflow objects displayed in
View Stateflow Objects in the Model Explorer on page 30-10.
Full Path Name of Containing Object

This area displays the full path name for the object that contains the matching text:

(<type>) <machine name>/<subsystem>/<chart

name>.[p1]...[pn].<object name> (<id>)

where p1 through pn denote the object's parent states.

Viewer

This area displays the matching text as a highlighted part of all search-qualified
text fields for the owner object. If other occurrences exist in these fields, they too are
highlighted, but in lighter shades.

To invoke the properties dialog box for the owner object, double-click anywhere in the
Viewer pane.
Portal

This area contains a graphic display of the object that contains the matching text. That
object appears highlighted.

To display the highlighted object in the Stateflow Editor, double-click anywhere in the
Portal pane.

The Search Order

If you specify an entire machine as your search scope in the Search in field, the Search
& Replace tool starts searching at the beginning of the first chart of the model, regardless
of the Stateflow chart that appears in the Stateflow Editor when you begin your search.
After searching the first chart, the Search & Replace tool continues searching each chart
in model order until all charts for the model have been searched.

If you specify a Stateflow chart as your search scope, the Search & Replace tool begins
searching at the beginning of the chart. The Search & Replace tool continues searching
the chart until all the chart objects have been searched.

30-22
 Use the Search & Replace Tool

The search order when searching an individual chart for matching text is equivalent to
a depth-first search of the Model Explorer. Starting at the highest level of the chart, the
Model Explorer hierarchy is traversed downward from parent to child until an object
with no child is encountered. At this point, the hierarchy is traversed upward through
objects already searched until an unsearched sibling is found and the process repeats.

Specify the Replacement Text

The Search & Replace tool replaces matching text with the exact (case-sensitive) text you
entered in the Replace With field unless you selected the Preserve case option.

Replacing with Case Preservation

If you choose the Preserve case option, matching text is replaced based on one of these
conditions:

Whisper

Matching text has only lowercase characters. Matching text is replaced entirely
with the lowercase equivalent of all replacement characters. For example, if the
replacement text is "ANDREW", the matching text "bill" is replaced by "andrew".
Shout

Matching text has only uppercase characters. Matching text is replaced entirely
with the uppercase equivalent of all replacement characters. For example, if the
replacement text is "Andrew", the matching text "BILL" is replaced by "ANDREW".
Proper

Matching text has uppercase characters in the first character position of each
word. Matching text is replaced entirely with the case equivalent of all replacement
characters. For example, if the replacement text is "andrew johnson", the matching
text "Bill Monroe" is replaced by "Andrew Johnson".
Sentence

Matching text has an uppercase character in the first character position of a sentence
with all other sentence characters in lowercase. Matching text is replaced in like
manner, with the first character of the sentence given an uppercase equivalent and
all other sentence characters set to lowercase. For example, if the replacement text is
"andrew is tall.", the matching text "Bill is tall." is replaced by "Andrew
is tall.".

30-23
30 Explore and Modify Charts

If the matching text does not follow any of these patterns, then the text and case
replacement match the user input.

Use Replace Buttons

You can activate the replace buttons (Replace, Replace all, Replace all in this
object) only after a search that finds text.

Replace

When you select the Replace button, the current instance of text matching the text in
the Search for field is replaced by the text you entered in the Replace with field. The
Search & Replace tool then searches for the next occurrence of the Search for text.

Replace all

When you select the Replace all button, all instances of text matching the Search for
field are replaced by the text entered in the Replace with field. Replacement starts
at the point of invocation to the end of the current Stateflow chart. If you initially skip
through some search matches with the Search button, these matches are also skipped
when you select the Replace all button.

Replace all in this object

When you select the Replace all in this object button, all instances of text matching
the Search for field are replaced by text you entered in the Replace with field
everywhere in the current Stateflow object regardless of previous searches.

Search and Replace Messages

Informational and warning messages appear in the Full Path Name Containing
Object field along with a defining icon.

Informational Messages

Warnings

The following messages are informational:

30-24
 Use the Search & Replace Tool

Please specify a search string

A search was attempted without search text specified.

No Matches Found

No matches exist in the selected search scope.

Search Completed

No more matches exist in the selected search scope.

The following warnings refer to invalid conditions for searching or replacing:

Invalid option set

The object types and field types that you selected are incompatible.

Match object not currently editable

The matching object is not editable by replacement due to one of these problems.

Problem Solution
A simulation is running. Stop the simulation.
You are editing a locked library block. Unlock the library.
The current object or its parent has been Unlock the object or its parent.
manually locked.

The following warnings appear if the Search & Replace tool must find the object again
and its matching text field. If the original matching object is deleted or changed before an
ensuing search or replacement, the Search & Replace tool cannot continue.

Search object not found

If you search for text, find it, and then delete the containing object, this warning appears
if you continue to search.

Match object not found

If you search for text, find it, and then delete the containing object, this warning appears
if you perform a replacement.

30-25
30 Explore and Modify Charts

Match not found

If you search for text, find it, and then change the object containing the text, this warning
appears if you perform a replacement.

Search string changed

If you search for text, find it, and then change the Search For field, this warning
appears if you perform a replacement.

30-26
 A

Semantic Rules Summary

A Summary of Chart Semantic Rules

Summary of Chart Semantic Rules

In this section...
Enter a Chart on page A-2
Execute an Active Chart on page A-2
Enter a State on page A-2
Execute an Active State on page A-3
Exit an Active State on page A-3
Execute a Set of Flow Charts on page A-4
Execute an Event Broadcast on page A-4

Enter a Chart
The set of default flow paths execute (see Execute a Set of Flow Charts on page
A-4). If this action does not cause a state entry and the chart has parallel
decomposition, then each parallel state becomes active (see Enter a State on page
A-2).

If executing the default flow paths does not cause state entry, a state inconsistency error
occurs.

Execute an Active Chart

If the chart has no states, each execution is equivalent to initializing a chart. Otherwise,
the active children execute. Parallel states execute in the same order that they become
active.

Enter a State
1 If the parent of the state is not active, perform steps 1 through 4 for the parent.
2 If this state is a parallel state, check that all siblings with a higher (that is, earlier)
entry order are active. If not, perform steps 1 through 5 for these states first.

Parallel (AND) states are ordered for entry based on whether you use explicit
ordering (default) or implicit ordering. For details, see Explicit Ordering of Parallel
States on page 3-79 and Implicit Ordering of Parallel States on page 3-80.

A-2
 Summary of Chart Semantic Rules

3 Mark the state active.

4 Perform any entry actions.
5 Enter children, if needed:

a If the state contains a history junction and there was an active child of this
state at some point after the most recent chart initialization, perform the entry
actions for that child. Otherwise, execute the default flow paths for the state.
b If this state has children that are parallel states (parallel decomposition),
perform entry steps 1 through 5 for each state according to its entry order.
c If this state has only one child substate, the substate becomes active when the
parent becomes active, regardless of whether a default transition is present.
Entering the parent state automatically makes the substate active. The presence
of any inner transition has no effect on determining the active substate.
6 If this state is a parallel state, perform all entry steps for the sibling state next in
entry order if one exists.
7 If the transition path parent is not the same as the parent of the current state,
perform entry steps 6 and 7 for the immediate parent of this state.

Execute an Active State

1 The set of outer flow charts execute (see Execute a Set of Flow Charts on page
A-4). If this action causes a state transition, execution stops. (Note that this
step never occurs for parallel states.)
2 During actions and valid on-event actions are performed.
3 The set of inner flow charts execute. If this action does not cause a state transition,
the active children execute, starting at step 1. Parallel states execute in the same
order that they become active.

Exit an Active State

1 If this is a parallel state, make sure that all sibling states that became active after
this state have already become inactive. Otherwise, perform all exiting steps on
those sibling states.
2 If there are any active children, perform the exit steps on these states in the reverse
order that they became active.
3 Perform any exit actions.
4 Mark the state as inactive.

A-3
A Summary of Chart Semantic Rules

Execute a Set of Flow Charts

Flow charts execute by starting at step 1 below with a set of starting transitions. The
starting transitions for inner flow charts are all transition segments that originate on the
respective state and reside entirely within that state. The starting transitions for outer
flow charts are all transition segments that originate on the respective state but reside at
least partially outside that state. The starting transitions for default flow charts are all
default transition segments that have starting points with the same parent:

1 Ordering of a set of transition segments occurs.

2 While there are remaining segments to test, testing a segment for validity occurs. If
the segment is invalid, testing of the next segment occurs. If the segment is valid,
execution depends on the destination:

States

a Testing of transition segments stops and a transition path forms by backing up

and including the transition segment from each preceding junction until the
respective starting transition.
b The states that are the immediate children of the parent of the transition path
exit (see Exit an Active State on page A-3).
c The transition action from the final transition path executes.
d The destination state becomes active (see Enter a State on page A-2).

Junctions with no outgoing transition segments

Testing stops without any state exits or entries.

Junctions with outgoing transition segments

Step 1 is repeated with the set of outgoing segments from the junction.
3 After testing all outgoing transition segments at a junction, backtrack the incoming
transition segment that brought you to the junction and continue at step 2, starting
with the next transition segment after the backtrack segment. The set of flow charts
finishes execution when testing of all starting transitions is complete.

Execute an Event Broadcast

Output edge-trigger event execution is equivalent to changing the value of an output
data value. All other events have the following execution:

A-4
 Summary of Chart Semantic Rules

1 If the receiver of the event is active, then it executes (see Execute an Active Chart
on page A-2 and Execute an Active State on page A-3). (The event
receiver is the parent of the event unless a direct event broadcast occurs using the
send() function.)

If the receiver of the event is not active, nothing happens.

2 After broadcasting the event, the broadcaster performs early return logic based on
the type of action statement that caused the event.

Action Type Early Return Logic

State Entry If the state is no longer active at the end of the event broadcast,
any remaining steps in entering a state do not occur.
State Exit If the state is no longer active at the end of the event broadcast,
any remaining exit actions and steps in state transitioning do
not occur.
State During If the state is no longer active at the end of the event broadcast,
any remaining steps in executing an active state do not occur.
Condition If the origin state of the inner or outer flow chart or parent
state of the default flow chart is no longer active at the end of
the event broadcast, the remaining steps in the execution of the
set of flow charts do not occur.
Transition If the parent of the transition path is not active or if that
parent has an active child, the remaining transition actions
and state entry do not occur.

A-5
 B

Semantic Examples
B Categories of Semantic Examples

Categories of Semantic Examples

The following examples show the detailed semantics (behavior) of Stateflow charts.

Transition to and from Exclusive (OR) States on page B-4

Transition from State to State with Events on page B-5

Transition from a Substate to a Substate with Events on page B-8

Control Chart Execution Using Condition Actions on page B-10

Condition Action Behavior on page B-10

Condition and Transition Action Behavior on page B-11
Create Condition Actions Using a For-Loop on page B-13
Broadcast Events to Parallel (AND) States Using Condition Actions on page
B-14
Avoid Cyclic Behavior on page B-15

Control Chart Execution Using Default Transitions on page B-17

Default Transition in Exclusive (OR) Decomposition on page B-17

Default Transition to a Junction on page B-18
Default Transition and a History Junction on page B-19
Labeled Default Transitions on page B-20

Process Events Using Inner Transitions on page B-23

Process One Event in an Exclusive (OR) State on page B-23

Process a Second Event in an Exclusive (OR) State on page B-24
Process a Third Event in an Exclusive (OR) State on page B-25
Process the First Event with an Inner Transition to a Connective Junction on page
B-26
Process a Second Event with an Inner Transition to a Connective Junction on page
B-27
Inner Transition to a History Junction on page B-28

Use Connective Junctions to Represent Multiple Paths on page B-30

B-2
 Categories of Semantic Examples

If-Then-Else Decision Construct on page B-31

Self-Loop Transition on page B-32
For-Loop Construct on page B-33
Flow Chart Notation on page B-35
Transition from a Common Source to Multiple Destinations on page B-36
Transition from Multiple Sources to a Common Destination on page B-37
Transition from a Source to a Destination Based on a Common Event on page
B-38

Control Chart Execution Using Event Actions in a Superstate on page

B-41

Broadcast Events in Parallel (AND) States on page B-42

Broadcast Events in Parallel States on page B-42

Broadcast Events in a Transition Action with a Nested Event Broadcast on page
B-45
Broadcast Condition Action Event in Parallel State on page B-48

Directly Broadcast Events on page B-52

Directed Event Broadcast Using Send on page B-52

Directed Event Broadcast Using Qualified Event Name on page B-53

B-3
B Transition to and from Exclusive (OR) States

Transition to and from Exclusive (OR) States

In this section...
Label Format for a State-to-State Transition on page B-4
Transition from State to State with Events on page B-5
Transition from a Substate to a Substate with Events on page B-8

Label Format for a State-to-State Transition

The following example shows the general label format for a transition entering a state.

A chart executes this transition as follows:

1 When an event occurs, state S1 checks for an outgoing transition with a matching
event specified.
2 If a transition with a matching event is found, the condition for that transition
([condition]) is evaluated.
3 If the condition is true, condition_action is executed.
4 If there is a valid transition to the destination state, the transition is taken.
5 State S1 is exited.
6 The transition_action is executed when the transition is taken.
7 State S2 is entered.

B-4
 Transition to and from Exclusive (OR) States

Transition from State to State with Events

The following example shows the behavior of a simple transition focusing on the
implications of whether states are active or inactive.

Process a First Event

Initially, the chart is asleep. State On and state Off are OR states. State On is active.
Event E_one occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A valid
transition from state On to state Off is detected.
2 State On exit actions (exitOn()) execute and complete.
3 State On is marked inactive.
4 The event E_one is broadcast as the transition action.

This second event E_one is processed, but because neither state is active, it has
no effect. If the second broadcast of E_one resulted in a valid transition, it would
preempt the processing of the first broadcast of E_one. See Early Return Logic for
Event Broadcasts on page 3-85.
5 State Off is marked active.
6 State Off entry actions (entOff()) execute and complete.

B-5
B Transition to and from Exclusive (OR) States

7 The chart goes back to sleep.

This sequence completes the execution of the Stateflow chart associated with event
E_one when state On is initially active.

Process a Second Event

Using the same example, what happens when the next event, E_one, occurs while state
Off is active?

Initially, the chart is asleep. State Off is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one.

A valid transition from state Off to state On is detected.

2 State Off exit actions (exitOff()) execute and complete.
3 State Off is marked inactive.
4 State On is marked active.
5 State On entry actions (entOn()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of the Stateflow chart associated with the second
event E_one when state Off is initially active.

B-6
 Transition to and from Exclusive (OR) States

Process a Third Event

Using the same example, what happens when a third event, E_two, occurs?

Notice that the event E_two is not used explicitly in this example. However, its
occurrence (or the occurrence of any event) does result in behavior. Initially, the chart is
asleep and state On is active.

1 Event E_two occurs and awakens the chart.

Event E_two is processed from the root of the chart down through the hierarchy of
the chart.
2 The chart root checks to see if there is a valid transition as a result of E_two. There
is none.
3 State On during actions (durOn()) execute and complete.
4 The chart goes back to sleep.

This sequence completes the execution of the Stateflow chart associated with event
E_two when state On is initially active.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

B-7
B Transition to and from Exclusive (OR) States

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

Transition from a Substate to a Substate with Events

This example shows the behavior of a transition from an OR substate to an OR substate.

Initially, the chart is asleep. State A.A1 is active. Condition C_one is true. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is a valid transition from state A.A1 to state B.B1. (Condition C_one is true.)
2 State A during actions (durA()) execute and complete.
3 State A.A1 exit actions (exitA1()) execute and complete.
4 State A.A1 is marked inactive.
5 State A exit actions (exitA()) execute and complete.
6 State A is marked inactive.
7 The transition action, A, is executed and completed.
8 State B is marked active.
9 State B entry actions (entB()) execute and complete.
10 State B.B1 is marked active.

B-8
 Transition to and from Exclusive (OR) States

11 State B.B1 entry actions (entB1()) execute and complete.

12 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

B-9
B Control Chart Execution Using Condition Actions

Control Chart Execution Using Condition Actions

In this section...
Condition Action Behavior on page B-10
Condition and Transition Action Behavior on page B-11
Create Condition Actions Using a For-Loop on page B-13
Broadcast Events to Parallel (AND) States Using Condition Actions on page B-14
Avoid Cyclic Behavior on page B-15

Condition Action Behavior

This example shows the behavior of a simple condition action in a transition path with
multiple segments. The chart uses implicit ordering of outgoing transitions (see Implicit
Ordering of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State A is active. Conditions C_one and C_two are false.
Event E_one occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A valid
transition segment from state A to a connective junction is detected. The condition
action A_one is detected on the valid transition segment and is immediately
executed and completed. State A is still active.

B-10
 Control Chart Execution Using Condition Actions

2 Because the conditions on the transition segments to possible destinations are false,
none of the complete transitions is valid.
3 State A during actions (durA()) execute and complete.

State A remains active.

4 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A is initially active.

Condition and Transition Action Behavior

This example shows the behavior of a simple condition and transition action specified on
a transition from one exclusive (OR) state to another.

Initially, the chart is asleep. State A is active. Condition C_one is true. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A
valid transition from state A to state B is detected. The condition C_one is true.
The condition action A_one is detected on the valid transition and is immediately
executed and completed. State A is still active.
2 State A exit actions (ExitA()) execute and complete.
3 State A is marked inactive.

B-11
B Control Chart Execution Using Condition Actions

4 The transition action A_two is executed and completed.

5 State B is marked active.
6 State B entry actions (entB()) execute and complete.
7 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A is initially active.

B-12
 Control Chart Execution Using Condition Actions

Create Condition Actions Using a For-Loop

Condition actions and connective junctions are used to design a for loop construct. This
example shows the use of a condition action and connective junction to create a for loop
construct. The chart uses implicit ordering of outgoing transitions (see Implicit Ordering
of Outgoing Transitions on page 3-64).

See For-Loop Construct on page B-33 to see the behavior of this example.

B-13
B Control Chart Execution Using Condition Actions

Broadcast Events to Parallel (AND) States Using Condition Actions

This example shows how to use condition actions to broadcast events immediately to
parallel (AND) states. The chart uses implicit ordering of parallel states (see Implicit
Ordering of Parallel States on page 3-80).

See Broadcast Condition Action Event in Parallel State on page B-48 to see the
behavior of this example.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

B-14
 Control Chart Execution Using Condition Actions

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

Avoid Cyclic Behavior

This example shows a notation to avoid when using event broadcasts as condition actions
because the semantics results in cyclic behavior.

Initially, the chart is asleep. State On is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one.

A valid transition from state On to state Off is detected.

2 The condition action on the transition broadcasts event E_one.
3 Event E_one is detected on the valid transition, which is immediately executed.
State On is still active.
4 The broadcast of event E_one awakens the chart a second time.
5 Go to step 1.

Steps 1 through 5 continue to execute in a cyclical manner. The transition label

indicating a trigger on the same event as the condition action broadcast event results
in unrecoverable cyclic behavior. This sequence never completes when event E_one is
broadcast and state On is active.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

B-15
B Control Chart Execution Using Condition Actions

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

B-16
 Control Chart Execution Using Default Transitions

Control Chart Execution Using Default Transitions

In this section...
Default Transition in Exclusive (OR) Decomposition on page B-17
Default Transition to a Junction on page B-18
Default Transition and a History Junction on page B-19
Labeled Default Transitions on page B-20

Default Transition in Exclusive (OR) Decomposition

This example shows a transition from an OR state to a superstate with exclusive (OR)
decomposition, where a default transition to a substate is defined.

Initially, the chart is asleep. State A is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is a valid transition from state A to superstate B.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 The transition action, A, is executed and completed.

B-17
B Control Chart Execution Using Default Transitions

5 State B is marked active.

6 State B entry actions (entB()) execute and complete.
7 State B detects a valid default transition to state B.B1.
8 State B.B1 is marked active.
9 State B.B1 entry actions (entB1()) execute and complete.
10 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A is initially active.

Default Transition to a Junction

The following example shows the behavior of a default transition to a connective junction.
The default transition to the junction is valid only when state B is first entered, not every
time the chart wakes up.

For this example, initially, the chart is asleep. State B.B1 is active. Condition [C_two]
is true. An event occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 State B checks to see if there is a valid transition as a result of any event. There is
none.
2 State B during actions (durB()) execute and complete.

B-18
 Control Chart Execution Using Default Transitions

3 State B1 checks to see if there is a valid transition as a result of any event. There is
none.
4 State B1 during actions (durB1()) execute and complete.

This sequence completes the execution of this Stateflow chart associated with the
occurrence of any event.

Default Transition and a History Junction

This example shows the behavior of a superstate with a default transition and a history
junction. The chart uses implicit ordering of outgoing transitions (see Implicit Ordering
of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State A is active. A history junction records the fact that
state B4 is the previously active substate of superstate B. Event E_one occurs and
awakens the chart, which processes the event from the root down through the hierarchy:

B-19
B Control Chart Execution Using Default Transitions

1 The chart root checks to see if there is a valid transition as a result of E_one.

There is a valid transition from state A to superstate B.

2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 State B is marked active.
5 State B entry actions (entB()) execute and complete.
6 State B uses the history junction to determine the substate destination of the
transition into the superstate.

The history junction indicates that substate B.B4 was the last active substate, which
becomes the destination of the transition.
7 State B.B4 is marked active.
8 State B.B4 entry actions (entB4()) execute and complete.
9 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Labeled Default Transitions

This example shows the use of a default transition with a label. The chart uses implicit
ordering of outgoing transitions (see Implicit Ordering of Outgoing Transitions on page
3-64).

B-20
 Control Chart Execution Using Default Transitions

Initially, the chart is asleep. State A is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one.

There is a valid transition from state A to superstate B. The transition is valid if

event E_one or E_two occurs.
2 State A exit actions execute and complete (exitA()).
3 State A is marked inactive.
4 State B is marked active.
5 State B entry actions execute and complete (entB()).
6 State B detects a valid default transition to state B.B1. The default transition is valid
as a result of E_one.
7 State B.B1 is marked active.
8 State B.B1 entry actions execute and complete (entB1()).
9 The chart goes back to sleep.

B-21
B Control Chart Execution Using Default Transitions

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A is initially active.

B-22
 Process Events Using Inner Transitions

Process Events Using Inner Transitions

In this section...
Process Events with an Inner Transition in an Exclusive (OR) State on page B-23
Process Events with an Inner Transition to a Connective Junction on page B-26
Inner Transition to a History Junction on page B-28

Process Events with an Inner Transition in an Exclusive (OR) State

This example shows what happens when processing three events using an inner
transition in an exclusive (OR) state.

Process One Event in an Exclusive (OR) State

This example shows the behavior of an inner transition. The chart uses implicit ordering
of outgoing transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State A is active. Condition [C_one] is false. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one.
A potentially valid transition from state A to state B is detected. However, the
transition is not valid, because [C_one] is false.

B-23
B Process Events Using Inner Transitions

2 State A during actions (durA()) execute and complete.

3 State A checks its children for a valid transition and detects a valid inner transition.
4 State A remains active. The inner transition action A_two is executed and completed.
Because it is an inner transition, state A's exit and entry actions are not executed.
5 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Process a Second Event in an Exclusive (OR) State

Using the previous example, this example shows what happens when a second event
E_one occurs. The chart uses implicit ordering of outgoing transitions (see Implicit
Ordering of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State A is still active. Condition [C_one] is true. Event
E_one occurs and awakens the chart, which processes the event from the root down
through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one.

The transition from state A to state B is now valid because [C_one] is true.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 The transition action A_one is executed and completed.

B-24
 Process Events Using Inner Transitions

5 State B is marked active.

6 State B entry actions (entB()) execute and complete.
7 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Process a Third Event in an Exclusive (OR) State

Using the previous example, this example shows what happens when a third event,
E_two, occurs. The chart uses implicit ordering of outgoing transitions (see Implicit
Ordering of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State B is now active. Condition [C_two] is false. Event
E_two occurs and awakens the chart, which processes the event from the root down
through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_two.

A potentially valid transition from state B to state A is detected. The transition is

not valid because [C_two] is false. However, active state B has a valid self-loop
transition.
2 State B exit actions (exitB()) execute and complete.
3 State B is marked inactive.
4 The self-loop transition action, A_four, executes and completes.

B-25
B Process Events Using Inner Transitions

5 State B is marked active.

6 State B entry actions (entB()) execute and complete.
7 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_two. This example shows the difference in behavior between inner and self-loop
transitions.

Process Events with an Inner Transition to a Connective Junction

This example shows the behavior of handling repeated events using an inner transition
to a connective junction.

Process the First Event with an Inner Transition to a Connective Junction

This example shows the behavior of an inner transition to a connective junction for
the first event. The chart uses implicit ordering of outgoing transitions (see Implicit
Ordering of Outgoing Transitions on page 3-64).

Initially, the chart is asleep. State A1 is active. Condition [C_two] is true. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition at the root level as a result
of E_one. There is no valid transition.

B-26
 Process Events Using Inner Transitions

2 State A during actions (durA()) execute and complete.

3 State A checks itself for valid transitions and detects that there is a valid inner
transition to a connective junction.

The conditions are evaluated to determine whether one of the transitions is valid.
Because implicit ordering applies, the segments labeled with a condition are
evaluated before the unlabeled segment. The evaluation starts from a 12 o'clock
position on the junction and progresses in a clockwise manner. Because [C_two] is
true, the inner transition to the junction and then to state A.A2 is valid.
4 State A.A1 exit actions (exitA1()) execute and complete.
5 State A.A1 is marked inactive.
6 State A.A2 is marked active.
7 State A.A2 entry actions (entA2()) execute and complete.
8 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A1 is active and condition [C_two] is true.

Process a Second Event with an Inner Transition to a Connective Junction

Continuing the previous example, this example shows the behavior of an inner transition
to a junction when a second event E_one occurs. The chart uses implicit ordering of
outgoing transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

B-27
B Process Events Using Inner Transitions

Initially, the chart is asleep. State A2 is active. Condition [C_two] is true. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition at the root level as a result
of E_one. There is no valid transition.
2 State A during actions (durA()) execute and complete.
3 State A checks itself for valid transitions and detects a valid inner transition to a
connective junction.

The conditions are evaluated to determine whether one of the transitions is valid.
Because implicit ordering applies, the segments labeled with a condition are
evaluated before the unlabeled segment. The evaluation starts from a 12 o'clock
position on the junction and progresses in a clockwise manner. Because [C_two] is
true, the inner transition to the junction and then to state A.A2 is valid.
4 State A.A2 exit actions (exitA2()) execute and complete.
5 State A.A2 is marked inactive.
6 State A.A2 is marked active.
7 State A.A2 entry actions (entA2()) execute and complete.
8 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when state A2 is active and condition [C_two] is true. For a state with a valid
inner transition, an active substate can be exited and reentered immediately.

Inner Transition to a History Junction

This example shows the behavior of an inner transition to a history junction.

B-28
 Process Events Using Inner Transitions

Initially, the chart is asleep. State A.A1 is active. History information exists because
superstate A is active. Event E_one occurs and awakens the chart, which processes the
event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is no valid transition.
2 State A during actions execute and complete.
3 State A checks itself for valid transitions and detects that there is a valid inner
transition to a history junction. Based on the history information, the last active
state, A.A1, is the destination state.
4 State A.A1 exit actions execute and complete.
5 State A.A1 is marked inactive.
6 State A.A1 is marked active.
7 State A.A1 entry actions execute and complete.
8 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one when there is an inner transition to a history junction and state A.A1 is active.
For a state with a valid inner transition, an active substate can be exited and reentered
immediately.

B-29
B Use Connective Junctions to Represent Multiple Paths

Use Connective Junctions to Represent Multiple Paths

In this section...
Label Format for Transition Segments on page B-30
If-Then-Else Decision Construct on page B-31
Self-Loop Transition on page B-32
For-Loop Construct on page B-33
Flow Chart Notation on page B-35
Transition from a Common Source to Multiple Destinations on page B-36
Transition from Multiple Sources to a Common Destination on page B-37
Transition from a Source to a Destination Based on a Common Event on page B-38
Backtrack in Flow Charts on page B-39

Label Format for Transition Segments

The label format for a transition segment entering a junction is the same as for
transitions entering states, as shown in the following example. The chart uses implicit
ordering of outgoing transitions (see Implicit Ordering of Outgoing Transitions on page
3-64).

Execution of a transition in this example occurs as follows:

B-30
 Use Connective Junctions to Represent Multiple Paths

1 When an event occurs, state S1 is checked for an outgoing transition with a

matching event specified.
2 If a transition with a matching event is found, the transition condition for that
transition (in brackets) is evaluated.
3 If condition_1 evaluates to true, the condition action condition_action (in
braces) is executed.
4 The outgoing transitions from the junction are checked for a valid transition. Since
condition_2 is true, a valid state-to-state transition from S1 to S2 exists.
5 State S1 exit actions execute and complete.
6 State S1 is marked inactive.
7 The transition action transition_action executes and completes.
8 The completed state-to-state transition from S1 to S2 occurs.
9 State S2 is marked active.
10 State S2 entry actions execute and complete.

If-Then-Else Decision Construct

This example shows the behavior of an if-then-else decision construct. The chart uses
implicit ordering of outgoing transitions (see Implicit Ordering of Outgoing Transitions
on page 3-64).

Initially, the chart is asleep. State A is active. Condition [C_two] is true. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

B-31
B Use Connective Junctions to Represent Multiple Paths

1 The chart root checks to see if there is a valid transition as a result of E_one.

A valid transition segment from state A to the connective junction exists. Because
implicit ordering applies, the transition segments beginning from a 12 o'clock
position on the connective junction are evaluated for validity. The first transition
segment, labeled with condition [C_one], is not valid. The next transition segment,
labeled with the condition [C_two], is valid. The complete transition from state A to
state C is valid.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 State C is marked active.
5 State C entry actions (entC()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Self-Loop Transition
This example shows the behavior of a self-loop transition using a connective junction.
The chart uses implicit ordering of outgoing transitions (see Implicit Ordering of
Outgoing Transitions on page 3-64).

B-32
 Use Connective Junctions to Represent Multiple Paths

Initially, the chart is asleep. State A is active. Condition [C_one] is false. Event E_one
occurs and awakens the chart, which processes the event from the root down through the
hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A valid
transition segment from state A to the connective junction exists. Because implicit
ordering applies, the transition segment labeled with a condition is evaluated for
validity. Because the condition [C_one] is not valid, the complete transition from
state A to state B is not valid. The transition segment from the connective junction
back to state A is valid.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 The transition action A_two is executed and completed.
5 State A is marked active.
6 State A entry actions (entA()) execute and complete.
7 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

For-Loop Construct
This example shows the behavior of a for loop using a connective junction. The chart
uses implicit ordering of outgoing transitions (see Implicit Ordering of Outgoing
Transitions on page 3-64).

B-33
B Use Connective Junctions to Represent Multiple Paths

Initially, the chart is asleep. State A is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is a valid transition segment from state A to the connective junction. The transition
segment condition action, i = 0, executes and completes. Of the two transition
segments leaving the connective junction, the transition segment that is a self-loop
back to the connective junction evaluates next for validity. That segment takes
priority in evaluation because it has a condition, whereas the other segment is
unlabeled. This evaluation behavior reflects implicit ordering of outgoing transitions
in the chart.
2 The condition [i < 10] evaluates as true. The condition actions i++ and a call to
func1 execute and complete until the condition becomes false. Because a connective
junction is not a final destination, the transition destination is still unknown.
3 The unconditional segment to state B is now valid. The complete transition from
state A to state B is valid.
4 State A exit actions (exitA()) execute and complete.
5 State A is marked inactive.
6 State B is marked active.

B-34
 Use Connective Junctions to Represent Multiple Paths

7 State B entry actions (entB()) execute and complete.

8 The chart goes back to sleep.

This sequence completes the execution of this chart associated with event E_one.

Flow Chart Notation

This example shows the behavior of a Stateflow chart that uses flow chart notation. The
chart uses implicit ordering of outgoing transitions (see Implicit Ordering of Outgoing
Transitions on page 3-64).

Initially, the chart is asleep. State A.A1 is active. The condition [C_one()] is initially
true. Event E_one occurs and awakens the chart, which processes the event from the
root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is no valid transition.
2 State A checks itself for valid transitions and detects a valid inner transition to a
connective junction.

B-35
B Use Connective Junctions to Represent Multiple Paths

3 The next possible segments of the transition are evaluated. Only one outgoing
transition exists, and it has a condition action defined. The condition action executes
and completes.
4 The next possible segments are evaluated. Two outgoing transitions exist: a
conditional self-loop transition and an unconditional transition segment. Because
implicit ordering applies, the conditional transition segment takes precedence.
Since the condition [C_one()] is true, the self-loop transition is taken. Since a
final transition destination has not been reached, this self-loop continues until
[C_one()] is false.

Assume that after five iterations, [C_one()] is false.

5 The next possible transition segment (to the next connective junction) is evaluated.
It is an unconditional transition segment with a condition action. The transition
segment is taken and the condition action, {d=my_func()}, executes and completes.
The returned value of d is 84.
6 The next possible transition segment is evaluated. Three outgoing transition
segments exist: two conditional and one unconditional. Because implicit ordering
applies, the segment labeled with the condition [d < 100] evaluates first based
on the geometry of the two outgoing conditional transition segments. Because the
returned value of d is 84, the condition [d < 100] is true and this transition to the
destination state A.A1 is valid.
7 State A.A1 exit actions (exitA1()) execute and complete.
8 State A.A1 is marked inactive.
9 State A.A1 is marked active.
10 State A.A1 entry actions (entA1()) execute and complete.
11 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Transition from a Common Source to Multiple Destinations

This example shows the behavior of transitions from a common source to multiple
conditional destinations using a connective junction. The chart uses implicit ordering of
outgoing transitions (see Implicit Ordering of Outgoing Transitions on page 3-64).

B-36
 Use Connective Junctions to Represent Multiple Paths

Initially, the chart is asleep. State A is active. Event E_two occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_two. A valid
transition segment exists from state A to the connective junction. Because implicit
ordering applies, evaluation of segments with equivalent label priority begins from
a 12 o'clock position on the connective junction and progresses clockwise. The first
transition segment, labeled with event E_one, is not valid. The next transition
segment, labeled with event E_two, is valid. The complete transition from state A to
state C is valid.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 State C is marked active.
5 State C entry actions (entC()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_two.

Transition from Multiple Sources to a Common Destination

This example shows the behavior of transitions from multiple sources to a single
destination using a connective junction.

B-37
B Use Connective Junctions to Represent Multiple Paths

Initially, the chart is asleep. State A is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A
valid transition segment exists from state A to the connective junction and from the
junction to state C.
2 State A exit actions (exitA()) execute and complete.
3 State A is marked inactive.
4 State C is marked active.
5 State C entry actions (entC()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Transition from a Source to a Destination Based on a Common Event

This example shows the behavior of transitions from multiple sources to a single
destination based on the same event using a connective junction.

B-38
 Use Connective Junctions to Represent Multiple Paths

Initially, the chart is asleep. State B is active. Event E_one occurs and awakens the
chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. A
valid transition segment exists from state B to the connective junction and from the
junction to state C.
2 State B exit actions (exitB()) execute and complete.
3 State B is marked inactive.
4 State C is marked active.
5 State C entry actions (entC()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one.

Backtrack in Flow Charts

This example shows the behavior of transitions with junctions that force backtracking
behavior in flow charts. The chart uses implicit ordering of outgoing transitions (see
Implicit Ordering of Outgoing Transitions on page 3-64).

B-39
B Use Connective Junctions to Represent Multiple Paths

Initially, state A is active and conditions c1, c2, and c3 are true:

1 The chart root checks to see if there is a valid transition from state A.

There is a valid transition segment marked with the condition c1 from state A to a
connective junction.
2 Condition c1 is true and action a1 executes.
3 Condition c3 is true and action a3 executes.
4 Condition c4 is not true and control flow backtracks to state A.
5 The chart root checks to see if there is another valid transition from state A.

There is a valid transition segment marked with the condition c2 from state A to a
connective junction.
6 Condition c2 is true and action a2 executes.
7 Condition c3 is true and action a3 executes.
8 Condition c4 is not true and control flow backtracks to state A.
9 The chart goes to sleep.

The preceding example shows the unexpected behavior of executing both actions a1
and a2. Another unexpected behavior is the execution of action a3 twice. To resolve this
problem, consider adding unconditional transitions to terminating junctions.

The terminating junctions allow flow to end if either c3 or c4 is not true. This design
leaves state A active without executing unnecessary actions.

B-40
 Control Chart Execution Using Event Actions in a Superstate

Control Chart Execution Using Event Actions in a Superstate

The following example shows the use of event actions in a superstate.

Initially, the chart is asleep. State A.A1 is active. Event E_three occurs and awakens
the chart, which processes the event from the root down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_three. No
valid transition exists.
2 State A during actions (durA()) execute and complete.
3 State A executes and completes the on event E_three action (A_one).
4 State A checks its children for valid transitions. No valid transitions exist.
5 State A1 during actions (durA1()) execute and complete.
6 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_three.

B-41
B Broadcast Events in Parallel (AND) States

Broadcast Events in Parallel (AND) States

In this section...
Broadcast Events in Parallel States on page B-42
Broadcast Events in a Transition Action with a Nested Event Broadcast on page
B-45
Broadcast Condition Action Event in Parallel State on page B-48

Broadcast Events in Parallel States

This example shows the behavior of event broadcast actions in parallel states. The chart
uses implicit ordering of parallel states (see Implicit Ordering of Parallel States on page
3-80).

B-42
 Broadcast Events in Parallel (AND) States

Initially, the chart is asleep. Parallel substates A.A1.A1a and A.A2.A2a are active.
Event E_one occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 The chart root checks to see if there is a valid transition at the root level as a result
of E_one. No valid transition exists.
2 State A during actions (durA()) execute and complete.
3 The children of state A are parallel (AND) states. Because implicit ordering applies,
the states are evaluated and executed from left to right and top to bottom. State
A.A1 is evaluated first. State A.A1 during actions (durA1()) execute and complete.
State A.A1 executes and completes the on E_one action and broadcasts event
E_two. The during and on event_name actions are processed based on their order
of appearance in the state label:

B-43
B Broadcast Events in Parallel (AND) States

a The broadcast of event E_two awakens the chart a second time. The chart
root checks to see if there is a valid transition as a result of E_two. No valid
transition exists.
b State A during actions (durA()) execute and complete.
c State A checks its children for valid transitions. No valid transitions exist.
d State A's children are evaluated starting with state A.A1. State A.A1 during
actions (durA1()) execute and complete. State A.A1 is evaluated for valid
transitions. There are no valid transitions as a result of E_two within state A1.
e State A1a's during actions (durA1a()) execute.
f State A.A2 is evaluated. State A.A2 during actions (durA2()) execute and
complete. State A.A2 checks for valid transitions. State A.A2 has a valid
transition as a result of E_two from state A.A2.A2a to state A.A2.A2b.
g State A.A2.A2a exit actions (exitA2a()) execute and complete.
h State A.A2.A2a is marked inactive.
i State A.A2.A2b is marked active.
j State A.A2.A2b entry actions (entA2b()) execute and complete.
4 The processing of E_one continues once the on event broadcast of E_two has been
processed. State A.A1 checks for any valid transitions as a result of event E_one. A
valid transition exists from state A.A1.A1a to state A.A1.A1b.
5 State A.A1.A1a executes and completes exit actions (exitA1a).
6 State A.A1.A1a is marked inactive.
7 State A.A1.A1b is marked active.
8 State A.A1.A1b entry actions (entA1b()) execute and complete.
9 Parallel state A.A2 is evaluated next. State A.A2 during actions (durA2()) execute
and complete. There are no valid transitions as a result of E_one.
10 State A.A2.A2b during actions (durA2b()) execute and complete.

State A.A2.A2b is now active as a result of the processing of the on event broadcast
of E_two.
11 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one and the on event broadcast to a parallel state of event E_two. The final chart
activity is that parallel substates A.A1.A1b and A.A2.A2b are active.

B-44
 Broadcast Events in Parallel (AND) States

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

Broadcast Events in a Transition Action with a Nested Event Broadcast

This example shows the behavior of an event broadcast transition action that includes
a nested event broadcast in a parallel state. The chart uses implicit ordering of parallel
states (see Implicit Ordering of Parallel States on page 3-80).

B-45
B Broadcast Events in Parallel (AND) States

Start of Event E_one Processing

Initially, the chart is asleep. Parallel substates A.A1.A1a and A.A2.A2a are active.
Event E_one occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. There
is no valid transition.
2 State A during actions (durA()) execute and complete.
3 State A's children are parallel (AND) states. Because implicit ordering applies, the
states are evaluated and executed from left to right and top to bottom. State A.A1 is
evaluated first. State A.A1during actions (durA1()) execute and complete.

B-46
 Broadcast Events in Parallel (AND) States

4 State A.A1 checks for any valid transitions as a result of event E_one. There is a
valid transition from state A.A1.A1a to state A.A1.A1b.
5 State A.A1.A1a executes and completes exit actions (exitA1a).
6 State A.A1.A1a is marked inactive.

Event E_two Preempts E_one

1 The transition action that broadcasts event E_two executes and completes:

a The broadcast of event E_two now preempts the transition from state A1a to
state A1b that event E_one triggers.
b The broadcast of event E_two awakens the chart a second time. The chart
root checks to see if there is a valid transition as a result of E_two. No valid
transition exists.
c State A during actions (durA()) execute and complete.
d State A's children are evaluated starting with state A.A1. State A.A1during
actions (durA1()) execute and complete. State A.A1 is evaluated for valid
transitions. There are no valid transitions as a result of E_two within state A1.
e State A.A2 is evaluated. State A.A2 during actions (durA2()) execute and
complete. State A.A2 checks for valid transitions. State A.A2 has a valid
transition as a result of E_two from state A.A2.A2a to state A.A2.A2b.
f State A.A2.A2a exit actions (exitA2a()) execute and complete.
g State A.A2.A2a is marked inactive.
h State A.A2.A2b is marked active.
i State A.A2.A2b entry actions (entA2b()) execute and complete.

Event E_one Processing Resumes

1 State A.A1.A1b is marked active.

2 State A.A1.A1b entry actions (entA1b()) execute and complete.
3 Parallel state A.A2 is evaluated next. State A.A2 during actions (durA2()) execute
and complete. There are no valid transitions as a result of E_one.
4 State A.A2.A2b during actions (durA2b()) execute and complete.

State A.A2.A2b is now active as a result of the processing of event broadcast E_two.
5 The chart goes back to sleep.

B-47
B Broadcast Events in Parallel (AND) States

This sequence completes the execution of this Stateflow chart associated with event
E_one and the event broadcast on a transition action to a parallel state of event E_two.
The final chart activity is that parallel substates A.A1.A1b and A.A2.A2b are active.

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

Broadcast Condition Action Event in Parallel State

This example shows the behavior of a condition action event broadcast in a parallel
(AND) state. The chart uses implicit ordering of parallel states (see Implicit Ordering of
Parallel States on page 3-80).

B-48
 Broadcast Events in Parallel (AND) States

Initially, the chart is asleep. Parallel substates A.A1.A1a and A.A2.A2a are active.
Event E_one occurs and awakens the chart, which processes the event from the root
down through the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of E_one. No
valid transition exists.
2 State A during actions (durA()) execute and complete.
3 State A's children are parallel (AND) states. Because implicit ordering applies, the
states are evaluated and executed from top to bottom, and from left to right. State
A.A1 is evaluated first. State A.A1 during actions (durA1()) execute and complete.
4 State A.A1 checks for any valid transitions as a result of event E_one. A valid
transition from state A.A1.A1a to state A.A1.A1b exists. A valid condition action

B-49
B Broadcast Events in Parallel (AND) States

also exists. The condition action event broadcast of E_two executes and completes.
State A.A1.A1a is still active:

a The broadcast of event E_two awakens the Stateflow chart a second time. The
chart root checks to see if there is a valid transition as a result of E_two. There
is no valid transition.
b State A during actions (durA()) execute and complete.
c State A's children are evaluated starting with state A.A1. State A.A1 during
actions (durA1()) execute and complete. State A.A1 is evaluated for valid
transitions. There are no valid transitions as a result of E_two within state A1.
d State A1a during actions (durA1a()) execute.
e State A.A2 is evaluated. State A.A2 during actions (durA2()) execute and
complete. State A.A2 checks for valid transitions. State A.A2 has a valid
transition as a result of E_two from state A.A2.A2a to state A.A2.A2b.
f State A.A2.A2a exit actions (exitA2a()) execute and complete.
g State A.A2.A2a is marked inactive.
h State A.A2.A2b is marked active.
i State A.A2.A2b entry actions (entA2b()) execute and complete.
5 State A.A1.A1a executes and completes exit actions (exitA1a).
6 State A.A1.A1a is marked inactive.
7 State A.A1.A1b is marked active.
8 State A.A1.A1b entry actions (entA1b()) execute and complete.
9 Parallel state A.A2 is evaluated next. State A.A2 during actions (durA2()) execute
and complete. There are no valid transitions as a result of E_one.
10 State A.A2.A2b during actions (durA2b()) execute and complete.

State A.A2.A2b is now active as a result of the processing of the condition action
event broadcast of E_two.
11 The chart goes back to sleep.

This sequence completes the execution of this Stateflow chart associated with event
E_one and the event broadcast on a condition action to a parallel state of event E_two.
The final chart activity is that parallel substates A.A1.A1b and A.A2.A2b are active.

B-50
 Broadcast Events in Parallel (AND) States

Tip: Avoid using undirected local event broadcasts, which can cause unwanted recursive
behavior in your chart. Use the send operator for directed local event broadcasts. For
more information, see Broadcast Events to Synchronize States on page 11-52.

You can set the diagnostic level for detecting undirected local event broadcasts. In the
Model Configuration Parameters dialog box, go to the Diagnostics > Stateflow pane
and set the Undirected event broadcasts diagnostic to none, warning, or error. The
default setting is warning.

B-51
B Directly Broadcast Events

Directly Broadcast Events

In this section...
Directed Event Broadcast Using Send on page B-52
Directed Event Broadcast Using Qualified Event Name on page B-53

Directed Event Broadcast Using Send

This example shows the behavior of directed event broadcast using the
send(event_name,state_name) syntax on a transition. The chart uses implicit
ordering of parallel states (see Implicit Ordering of Parallel States on page 3-80).

B-52
 Directly Broadcast Events

Initially, the chart is asleep. Parallel substates A.A1 and B.B1 are active, which implies
that parallel (AND) superstates A and B are also active. The condition [data1==1] is
true. The event E_one belongs to the chart and is visible to both A and B.

After waking up, the chart checks for valid transitions at every level of the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of the event.
There is no valid transition.
2 State A checks for any valid transitions as a result of the event. Because the
condition [data1==1] is true, there is a valid transition from state A.A1 to state
A.A2.
3 The action send(E_one,B) executes:

a The broadcast of event E_one reaches state B. Because state B is active, that
state receives the event broadcast and checks to see if there is a valid transition.
There is a valid transition from B.B1 to B.B2.
b State B.B1 exit actions (exitB1()) execute and complete.
c State B.B1 becomes inactive.
d State B.B2 becomes active.
e State B.B2 entry actions (entB2()) execute and complete.
4 State A.A1 exit actions (exitA1()) execute and complete.
5 State A.A1 becomes inactive.
6 State A.A2 becomes active.
7 State A.A2 entry actions (entA2()) execute and complete.

This sequence completes execution of a chart with a directed event broadcast to a parallel
state.

Directed Event Broadcast Using Qualified Event Name

This example shows the behavior of directed event broadcast using a qualified event
name on a transition. The chart uses implicit ordering of parallel states (see Implicit
Ordering of Parallel States on page 3-80).

B-53
B Directly Broadcast Events

The only differences from the chart in Directed Event Broadcast Using Send on page
B-52 are:

The event E_one belongs to state B and is visible only to that state.
The action send(E_one,B) is now send(B.E_one).

Using a qualified event name is necessary because E_one is not visible to state A.

After waking up, the chart checks for valid transitions at every level of the hierarchy:

1 The chart root checks to see if there is a valid transition as a result of the event.
There is no valid transition.
2 State A checks for any valid transitions as a result of the event. Because the
condition [data1==1] is true, there is a valid transition from state A.A1 to state
A.A2.
3 The action send(B.E_one) executes and completes:

B-54
 Directly Broadcast Events

a The broadcast of event E_one reaches state B. Because state B is active, that
state receives the event broadcast and checks to see if there is a valid transition.
There is a valid transition from B.B1 to B.B2.
b State B.B1 exit actions (exitB1()) execute and complete.
c State B.B1 becomes inactive.
d State B.B2 becomes active.
e State B.B2 entry actions (entB2()) execute and complete.
4 State A.A1 exit actions (exitA1()) execute and complete.
5 State A.A1 becomes inactive.
6 State A.A2 becomes active.
7 State A.A2 entry actions (entA2()) execute and complete.

This sequence completes execution of a chart with a directed event broadcast using a
qualified event name to a parallel state.

B-55
 Glossary

actions Actions take place as part of Stateflow chart execution.

The action can execute as part of a transition from one
state to another, or depending on the activity status of
a state. Transitions can contain condition actions and
transition actions.

Action language defines the categories of actions you can

specify and their associated notations. For example, states
can have entry, during, exit, and on event_name
actions.

API (application Format you can use to access and communicate with
programming interface) an application program from a programming or script
environment.

atomic box Graphical object that enables you to reuse functions

across multiple charts. For more information, see
Rationale for Using an Atomic Box on page 7-48.

atomic subchart Graphical object that enables you to reuse states and
subcharts across multiple charts. For more information,
see When to Use Atomic Subcharts on page 14-4.

box Graphical object that groups together other graphical

objects in your chart. For details about how a box affects
chart execution, see Group Chart Objects Using Boxes
on page 7-41.

chart instance Link from a model to a chart stored in a Simulink library.

A chart in a library can have many chart instances.
Updating the chart in the library automatically updates
all instances of that chart.

condition Boolean expression to specify that a transition occurs

when the specified expression is true.

connective junction Illustrates decision points in the system. A connective

junction is a graphical object that simplifies Stateflow
chart representations and facilitates generation of
efficient code. Connective junctions provide different ways
to represent desired system behavior.

Glossary-1
Glossary

See Connective Junctions on page 2-40 for more

information.

data Data objects store numerical values for reference in the

Stateflow chart.

decomposition A state has a decomposition when it consists of one or

more substates. A chart that contains at least one state
also has decomposition. Rules govern how you can group
states in the hierarchy. A superstate has either parallel
(AND) or exclusive (OR) decomposition. All substates at
a particular level in the hierarchy must have the same
decomposition.

Parallel (AND) State Decomposition

Parallel (AND) state decomposition applies when

states have dashed borders. This decomposition
describes states at that same level in the hierarchy
that can be active at the same time. The activity
within parallel states is essentially independent.
Exclusive (OR) State Decomposition

Exclusive (OR) state decomposition applies when states

have solid borders. This decomposition describes states
that are mutually exclusive. Only one state at the
same level in the hierarchy can be active at a time.

default transition Primarily used to specify which exclusive (OR) state is

to be entered when there is ambiguity among two or
more neighboring exclusive (OR) states. For example,
default transitions specify which substate of a superstate
with exclusive (OR) decomposition the system enters by
default in the absence of any other information. Default
transitions can also specify that a junction should be
entered by default. The default transition object is a
transition with a destination but no source object.

See Default Transitions on page 2-35 for more

information.

Glossary-2
 Glossary

events Events drive chart execution. All events that affect

the chart must be defined. The occurrence of an event
causes the status of states in a chart to be evaluated. The
broadcast of an event can trigger a transition to occur or
an action to execute. Events are broadcast in a top-down
manner starting from the event's parent in the hierarchy.

Finder Tool to search for objects in Stateflow charts on platforms

that do not support the Simulink Find tool.

finite state machine (FSM) Representation of an event-driven system. FSMs are also
used to describe reactive systems. In an event-driven or
reactive system, the system transitions from one mode or
state to another prescribed mode or state, provided that
the condition defining the change is true.

flow chart Set of decision flow paths that start from a transition
segment that, in turn, starts from a state or a default
transition segment.

flow path Ordered sequence of transition segments and junctions

where each succeeding segment starts on the junction
that terminated the previous segment.

flow subgraph Set of decision flow paths that start on the same
transition segment.

graphical function A chart function whose logic is defined by a flow chart.

See Reuse Logic Patterns Using Graphical Functions on
page 7-32.

hierarchy Hierarchy enables you to organize complex systems

by placing states within other higher-level states. A
hierarchical design usually reduces the number of
transitions and produces neat, more manageable charts.
See Stateflow Hierarchy of Objects on page 1-8 for more
information.

history junction Specifies the destination substate of a transition based

on historical information. If a superstate has a history
junction, the transition to the destination substate is
the substate that was most recently active. The history

Glossary-3
Glossary

junction applies only to the level of the hierarchy in which

it appears.

See the following sections for more information:

History Junctions on page 2-46

Default Transition and a History Junction on page
B-19
Labeled Default Transitions on page B-20
Inner Transition to a History Junction on page B-28

inner transitions Transition that does not exit the source state. Inner
transitions are useful when defined for superstates with
exclusive (OR) decomposition. Use of inner transitions can
greatly simplify chart layout.

See Inner Transitions on page 2-30 and Inner

Transition to a History Junction on page B-28 for more
information.

library link Link to a chart that is stored in a library model.

library model Stateflow model that is stored in a Simulink library. You

can include charts from a library in your model by copying
them. When you copy a chart from a library into your
model, you create only a link to the library chart. You can
create multiple links to a single chart. Each link is called
a chart instance. When you include a chart from a library
in your model, you also include its Stateflow machine.
Therefore, a Stateflow model that includes links to library
charts has multiple Stateflow machines.

When you simulate a model that includes charts from

a library model, you include all charts from the library
model even if links exist only for some of its models. You
can simulate a model that includes links to a library
model only when all charts in the library model are free of
parse and compile errors.

machine Collection of all Stateflow blocks defined by a Simulink

model. This collection excludes chart instances from

Glossary-4
 Glossary

library links. If a model includes any library links, it also

includes the Stateflow machines defined by the models
from which the links originate.

MATLAB function A chart function that works with a subset of the MATLAB
programming language.

Mealy machine An industry-standard paradigm for modeling finite-state

machines, where output is a function of both inputs and
state.

Model Explorer Use to add, remove, and modify data, event, and target
objects in the Stateflow hierarchy. See Use the Model
Explorer with Stateflow Objects on page 30-10 for more
information.

Moore machine An industry-standard paradigm for modeling finite-state

machines, where output is a function only of state.

notation Defines a set of objects and the rules that govern the
relationships between those objects. Stateflow chart
notation provides a way to communicate the design
information in a Stateflow chart.

Stateflow chart notation includes:

A set of graphical objects

A set of nongraphical text-based objects
Defined relationships between those objects

parallelism A system with parallelism can have two or more states

that can be active at the same time. The activity of
parallel states is essentially independent. Parallelism is
represented with a parallel (AND) state decomposition.

See State Decomposition on page 2-9 for more

information.

S-function When you simulate a Simulink model containing

Stateflow charts, you generate an S-function (MEX-file)
for each Stateflow machine. This generated code is a
simulation target.

Glossary-5
Glossary

semantics Semantics describe how the notation is interpreted and

implemented behind the scenes. A completed Stateflow
chart communicates how the system will behave. A chart
contains actions associated with transitions and states.
The semantics describe in what sequence these actions
take place during chart execution.

Simulink function A chart function that you fill with Simulink blocks
and call in the actions of states and transitions. This
function provides an efficient model design and improves
readability by minimizing the graphical and nongraphical
objects required in a model. In a Stateflow chart, this
function acts like a function-call subsystem block of a
Simulink model.

state A state describes a mode of a reactive system. A reactive

system has many possible states. States in a chart
represent these modes. The activity or inactivity of the
states dynamically changes based on transitions among
events and conditions.

Every state has hierarchy. In a chart consisting of a

single state, the parent of that state is the Stateflow chart
itself. A state also has history that applies to its level
of hierarchy in the chart. States can have actions that
execute in a sequence based upon action type. The action
types are entry, during, exit, or on event_name
actions.

Stateflow block Masked Simulink model that is equivalent to an empty,

untitled Stateflow chart. Use the Stateflow block to
include a chart in a Simulink model.

The control behavior modeled by a Stateflow block

complements the algorithmic behavior modeled in
Simulink block diagrams. By incorporating Stateflow
blocks into Simulink models, you can add complex event-
driven behavior to Simulink simulations. You create
models that represent both data and decision flow by
combining Stateflow blocks with the standard Simulink
and toolbox block libraries.

Glossary-6
 Glossary

Stateflow chart A Stateflow chart is a graphical representation of a finite

state machine where states and transitions form the basic
building blocks of the system. See Stateflow Charts and
Simulink Models on page 1-4 for more information.

Stateflow Finder Use to display a list of objects based on search criteria you
specify. You can directly access the properties dialog box
of any object in the search output display by clicking that
object.

subchart Chart contained by another chart. See Encapsulate

Modal Logic Using Subcharts on page 7-5.

substate A state is a substate if it is contained by a superstate.

superstate A state is a superstate if it contains other states, called

substates.

supertransition Transition between objects residing in different

subcharts. See Move Between Levels of Hierarchy Using
Supertransitions on page 7-10 for more information.

target A container object for the generated code from the

Stateflow charts in a model. The collection of all charts for
a model appears as a Stateflow machine. Therefore, target
objects belong to the Stateflow machine.

The code generation process can produce these target

types: simulation, embeddable, and custom.

transition The circumstances under which the system moves from

one state to another. Either end of a transition can be
attached to a source and a destination object. The source
is where the transition begins and the destination is
where the transition ends. Usually, the occurrence of an
event causes a transition to take place.

transition path Flow path that starts and ends on a state.

transition segment A state-to-junction, junction-to-junction, or junction-to-

state part of a complete state-to-state transition.

Glossary-7
Glossary

truth table function A chart function that specifies logical behavior with
conditions, decisions, and actions. Truth tables are easier
to program and maintain than graphical functions.

Glossary-8