Page 820 - Mechatronics with Experiments

806 MECHATRONICS
be added to MATLAB ® to extend its function libraries for that purpose. Similar
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toolboxes exist for Simulink , Stateflow, and other software components.
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2. Simulink for graphical block diagram modeling of dynamic systems and control
algorithms.
3. Stateflow for event-driven system and supervisory control logic modeling (also with
graphical interface).
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4. Simulink ® Coder (SC) for auto-code generation in C-language from Simulink ,
Stateflow, and MATLAB ® files (formerly called Real Time Workshop (RTW) and
Stateflow Coder (SFC)). The Embedded Coder tool generates auto-code in C for
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specific microcontrollers and DSPs. The MATLAB Coder tool generates auto-code
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in C from the MATLAB text m-function files.
5. xPC-Target software for the PC-based embedded hardware tool called xPC-
hardware. There are other embedded target microcontroller software and hardware
combinations supported, such as Real-time Windows environment to run real-time
code on a PC with relevant I/O cards. For other specific commercial ECMs (i.e., for
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engine control, transmission control etc.), MATLAB provides “target ECM hard-
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ware” specific tools which work with Simulink Coder (SC), Embedded Coder, and
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MATLAB Coder in order to generate C-code automatically for that target ECM.
6. C-Compiler to compile the generated code for the target embedded controller hard-
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ware. MATLAB installation includes the LCC C-Complier.
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Figure A.1 shows the relationship between MATLAB and its main “add-on” tools.
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In the discussion that follows, we used the term MATLAB or MATLAB /Simulink to
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refer to this whole suite of tools in the MATLAB package. If testing on actual embedded
controller hardware is not needed and simulations are sufficient for a given purpose, then
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only the MATLAB , Simulink , and Stateflow package components are needed. It should
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be noted that the supervisory and event driven logic can also be coded in MATLAB and
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Simulink alone without the use of Stateflow. However, the Stateflow environment makes
ECM
PC
USB/CAN
Matlab development environment
C-files C-files
(S-functions)

Simulink
Matlab Simulink C-files C-Compiler Executable
coder file
Stateflow

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FIGURE A.1: MATLAB , its add-on tools and their typical relationships in an embedded
control software development.