New Features and Migration - dSPACE

dSPACE ReleaseNew Features andMigrationFor Release 3.2July 2001

How to Contact dSPACEMaildSPACE GmbHTechnologiepark 25D-33100 PaderbornGermanyPhone ++49-5251-1638-0Fax ++49-5251-66529E-mailinfo@dspace.deWebhttp://www.dspace.deSubscription to e-mail newsletter http://www.dspace.de/en/Support/enews.htmTechnical supportsupport@dspace.deSoftware Updates and PatchesdSPACE strongly recommends that you download and install the most recent patches foryour current dSPACE installation. Visit http://www.dspace.de/en/Support/Support.htm forsoftware updates and patches.Important NoticeThis document contains proprietary information that is protected by copyright. All rightsare reserved. Neither the documentation nor software may be copied, photocopied,reproduced, translated, or reduced to any electronic medium or machine-readable form, inwhole or in part, without the prior written consent of dSPACE GmbH.© Copyright 2001 by:dSPACE GmbHTechnologiepark 25D-33100 PaderbornGermanyThis publication and the contents hereof are subject to change without notice. dSPACEGmbH makes no warranty of any kind with regard to this publication, including but notlimited to the implied warranties of merchantability or fitness for a particular purpose.dSPACE GmbH shall not be liable for errors contained herein or direct, indirect, special,incidental, or consequential damages in connection with the furnishing, performance, oruse of this publication.Brand names or product names are trademarks or registered trademarks of their respectivecompanies or organizations.

ContentsAbout This Document 5About dSPACE Releases 7Key Features of dSPACE Release 3.2 9New Implementation Features .........................................................11New Experiment and Test Features ..................................................16Migrating to dSPACE Release 3.2 17Migrating to RTI 4.1....................................................................17Migrating RTI for the DS2210 .....................................................22Migrating RTI for MicroAutoBox .................................................23Migrating RTICAN.......................................................................23Migrating RTI-MP........................................................................24Migrating ControlDesk ...............................................................24dSPACE Release New Features and Migration July 2001 3

Contents 4dSPACE Release New Features and Migration July 2001

About This DocumentThis document provides you with a brief overview of the majorfeatures of dSPACE Release 3.2. Refer to:New featuresand enhancementsFor more detailed descriptions of the features, and a summary of themajor enhancements made since the last dSPACE CD, plus links toprinted or online documentation – refer to: Key Features of dSPACE Release 3.2 on page 9New Implementation Features on page 11New Experiment and Test Features on page 16MigrationIn addition, this document provides you with information on thechanges you may have to perform when you migrate to dSPACERelease 3.2. See: Migrating to dSPACE Release 3.2 on page 17dSPACE Release New Features and Migration July 2001 5

About This Document LegendThe following symbols are used in this document.CNTEWarnings provide indispensable information to avoid severe damageto your system and/or your work.Notes provide important information that should be kept in mind.Tips show alternative and/or easier work methods.Examples illustrate work methods and basic concepts, or provideready-to-use templates.6dSPACE Release New Features and Migration July 2001

About dSPACE ReleasesAll dSPACE products that form a seamlessly integrated toolchain andwork with a definite set of third-party products are assembled in adSPACE Release:A dSPACE Release identifies a unique set of dSPACE productversions. This means that one dSPACE Release does not containtwo versions of the same dSPACE product.One CD may contain multiple dSPACE Releases, each of which hasa separate installation script.Dependencies toproducts other vendorsA compatibility matrix given in the CompList.txt file describes thedependencies of a dSPACE Release on the products of othervendors (MATLAB, compilers, Windows XX, etc.).It is possible for one dSPACE Release to support two MATLABreleases, for example, TargetLink version 1.2 supports MATLAB 5.3(R11) and MATLAB 6.0 (R12).Release NumberingA dSPACE Release number consists of two digits to identify majorand minor releases (major.minor, for example, Release 3.2).dSPACE Release New Features and Migration July 2001 7

About dSPACE Releases For patches, a patch number is appended to the dSPACE Releasenumber (major.minor patch, for example, Release 3.2p1).8dSPACE Release New Features and Migration July 2001

Key Features ofdSPACE Release 3.2dSPACE Release 3.2 comes with the following key features:The DS1104 R&D Controller Board is fully supported by thesoftware of dSPACE Release 3.2.The software of dSPACE Release 3.2 also runs on the WindowsMe operating system.Implementation:key feature summaryTRTI, RTI-MP and MLIB/MTRACE of dSPACE Release 3.2 offer fullcompatibility with MATLAB 6.0 (R12), including support forseveral new features of MATLAB 6.0.dSPACE Release 3.2 does not support MATLAB 5.3.x (R11.x).Install dSPACE Release 3.1 if you work with MATLAB 5.3.x (R11.x)and do not need the support for the DS1104 and Windows Me.MicroAutoBox has a new block library for Extended EngineControl.dSPACE Release New Features and Migration July 2001 9

Key Features of dSPACE Release 3.2 Key features for a multiprocessor system:• The multiprocessor topology must be defined model-specific.• The CPUs can be treated as optional.• The IPI blocks are improved to allow more than 4 target CPUs.For details and more new features, refer to:New Implementation Features on page 11, listing the mostimportant new features, enhancements and changes of theimplementation software since dSPACE CD 3.0New Experiment and Test Features on page 16, listing the mostimportant new features, enhancements and changes of theexperiment and test software since dSPACE CD 3.010dSPACE Release New Features and Migration July 2001

Key Features of dSPACE Release 3.2New Implementation FeaturesdSPACE Release 3.2 comes with several new implementation features,enhancements and changes that apply to all dSPACE boards: seebelow.Compatibility withMATLAB 6.0 (R12)RTI 4.1 and RTI-MP 4.1 of dSPACE Release 3.2 offer fullcompatibility with MATLAB 6.0 (R12)In addition, there are changes that apply to specific dSPACE boards:New Implementation Features for the DS1104 on page 12New Implementation Features for Modular Hardware on page 12New Implementation Features of MicroAutoBox on page 13New Implementation Features for Multiprocessor Systems onpage 14New Implementation Features for the RTI CAN Blockset onpage 15General Implementation Features, Enhancementsand ChangesRTLib, RTI and RTI-MP of dSPACE Release 3.2 provide the followinghardware-independent new features and enhancements. Unless statedotherwise, these features can be implemented on all dSPACE systems.Extension of TRC fileNew demo modelsIn the variable description (TRC) file, the Task Info groups are extendedto list more task-specific kernel variables. These variables are useful foranalyzing overrun situations. For details, refer to Variable DescriptionFile Groups in the RTI and RTI-MP Implementation Reference.New demo models demonstrate the Task Handling features (TimerTask Assignment block, configurable overrun handling etc.).dSPACE Release New Features and Migration July 2001 11

Key Features of dSPACE Release 3.2 New Implementation Features for the DS1104The DS1104 R&D Controller Board upgrades your PC to adevelopment system for rapid control prototyping (RCP). The real-timehardware and its I/O interfaces make the board ideally suited fordeveloping controllers. For more details of the DS1104’s features, referto the DS1104 Feature Reference in the dSPACE HelpDesk.The following new implementation feature is specific to the DS1104:RTI supportRTLib supportRTI1104 supports the DS1104. For details on the DS1104 RTI blocks,refer to the DS1104 RTI Reference in the dSPACE HelpDesk.The RTLib1104 provides C functions for handcoding applications forthe DS1104. For details on the C functions, refer to the DS1104 RTLibReference in the dSPACE HelpDesk.New Implementation Features for ModularHardwareIn addition to the general implementation features and enhancementswhich apply to all dSPACE boards, there are several newimplementation features specific to the modular hardware (DS1003DSP Board, DS1005 PPC Board, and I/O boards).DS2210 supports up to8 cylindersNew blocks for DS2210The spark and injection event capture units and knock sensorsimulation have been extended. Up to 8 cylinders are now supported.For details, refer to Spark Event Capture Unit, Injection Event CaptureUnit, and Knock Sensor Simulation in the DS2210 Features Reference.There are new blocks with the following function:To generate square-wave signals with 20-bit resolution andmeasure square-wave signals with 21-bit resolution. For details,refer to DS2210D2F_Bx_Cy and DS2210F2D_Bx_Cy in the DS2210RTI Reference.To capture ignition and injection signals continuously. For details,refer to DS2210APU_IGNCONT_Bx, DS2210APU_INJCONT_Bx_Gy,and DS2210APU_AUXCAPCONT_Bx_Cy in the DS2210 RTIReference.12dSPACE Release New Features and Migration July 2001

Key Features of dSPACE Release 3.2To read digital capture input channelwise. For details, refer toDS2210CAP_IN_Bx_Cy in the DS2210 RTI Reference.NThe new features mentioned above are supported by the followingboards:DS2210 boards with board revision 4 or higherDS2210 boards with board revision 3 and FPGA revision 3 orhigher (FPGA = field programmable gate array).For information on how to get the board version, refer to DS2210Board Revision in the DS2210 Feature Reference.Interrupt supportfor DS4002RTI serial supportfor DS4201-SI/O supportThe interrupt support of the DS4002 allows interrupt generationsynchronized to the DS4002PWM3_OUT, DS4002PWM1_OUT, orDS4002DTOF block. For details, refer to Interrupts in the DS4002 RTIReference.RTI now contains full block support for the serial interface of theDS4201-S. This allows you to implement communication with externalhardware connected to the DS4201-S via its serial interface in aSimulink model.RTI-MP now has the full ability of I/O support of the DS2210 andRTICAN.Nonvolatile RAMNew Implementation Features of MicroAutoBoxIn addition to the general implementation features and enhancementswhich apply to all dSPACE boards, there are several newimplementation features specific to MicroAutoBox.MicroAutoBox provides a nonvolatile RAM for 16 bytes that you canuse to store intermediate results. For details, refer to Nonvolatile RAMAccess in the MicroAutoBox 1401/1501 and 1401/1504 FeatureReference.dSPACE Release New Features and Migration July 2001 13

Key Features of dSPACE Release 3.2 Extended EngineControlPWM measurement forchassis controlMicroAutoBox has a new block library for Extended Engine Control. Itprovides functions to process engine signals such as crankshaft andcamshaft signals. For details, refer to Extended Engine Control (EEC) inthe MicroAutoBox 1401/1501 and 1401/1504 Feature Reference andExtended Engine Control (EEC) in the MicroAutoBox 1401/1501 and1401/1504 RTI Reference.Chassis Control (CC) now supports PWM measurement. For details,refer to PWM Measurement (PWM2D) on the TPU for CC in theMicroAutoBox 1401/1501 and 1401/1504 Feature Reference.New Implementation Features for MultiprocessorSystemsdSPACE Release 3.2 provides the following new implementationfeatures and enhancements for a multiprocessor system:The multiprocessor topology must be defined model-specific. Fordetails, refer to Migrating RTI-MP on page 24.The CPUs can be treated as optional. This allows you to modify thetopology without the need to rebuild the real-time application andto register the modified multiprocessor system with ControlDeskagain. For details, refer to Working with Subsets of aMultiprocessor Topology in the DS1005 Feature Reference andTreat as Optional CPU in the RTI and RTI-MP ImplementationReference.The IPI blocks are improved to allow more than 4 target CPUs. Fordetails, refer to Interprocessor Interrupt (IPI) Block in the RTI andRTI-MP Implementation Reference.14dSPACE Release New Features and Migration July 2001

Key Features of dSPACE Release 3.2New Implementation Features for theRTI CAN BlocksetdSPACE Release 3.2 provides the following new implementationfeatures and enhancements for the RTI CAN Blockset:RTICAN Go Bus OffblockReload data fileRTICAN contains the new RTICAN Go Bus Off block to take acontroller off the bus. For details, refer to RTICAN Go Bus Off in the RTICAN Reference.RTICAN blocks can be configured by a data file. This file can now bereloaded. This is useful if you have changed the messages in a data fileor want to refresh the loaded messages for a number of blocks. Fordetails, refer to Data File Support in the RTI CAN Reference.dSPACE Release New Features and Migration July 2001 15

Key Features of dSPACE Release 3.2 New Experiment and TestFeaturesOn dSPACE Release 3.2, new features and enhancements have beenimplemented for dSPACE’s experiment and test software, see below.ControlDeskControlDesk 2.1 of dSPACE Release 3.2 comes with the following newfeatures and enhancements:Full support for DS1104Advanced versioncontrolControlDesk 2.1 now fully supports the DS1104.Most version control systems support advanced settings for certainoperations (check out, get latest version) that go beyond the standardof the SCC interface. You now have access to these settings viaControlDesk. For details, refer to Using a Version Control System in theControlDesk Experiment Guide.MLIB/MTRACEMLIB/MTRACE 4.3 of dSPACE Release 3.2 comes with the followingnew features:MATLAB 6.0 (R12)DS1104MLIB/MTRACE 4.3 offers full compatibility with MATLAB 6.0 (R12).MLIB/MTRACE 4.3 now fully supports the DS1104.16dSPACE Release New Features and Migration July 2001

Migrating todSPACE Release 3.2Note the following items when migrating from dSPACE CD 3.0 todSPACE Release 3.2:Migrating to RTI 4.1 on page 17Migrating RTI for the DS2210 on page 22Migrating RTI for MicroAutoBox on page 23Migrating RTICAN on page 23Migrating RTI-MP on page 24Migrating ControlDesk on page 24Migrating to RTI 4.1Models created with RTI versions prior to RTI 4.1 can be reused withRTI 4.1, which supports MATLAB 6.0 (R12). However, you mayencounter some problems during migration.dSPACE Release New Features and Migration July 2001 17

Migrating to dSPACE Release 3.2 There are a few points to remember when you reuse an existing modelor create a new Simulink model for use with RTI 4.1: see Changes withMATLAB 6.0 (R12) on page 21.Problems When Migrating to RTI 4.1Except for Dimension of vectors and User-defined libraries containingRTI blocks, all the problems described below result from bugs inMATLAB, Simulink, or Real-Time Workshop. Problems caused by TheMathWorks’ software usually will be resolved in future MATLABreleases.The following problem may occur when you change to RTI 4.1.User-defined librariescontaining RTI blocksIf you created Simulink block libraries containing RTI blocks from anRTI version lower than 3.6, you have to update them manually.To update user-defined librariesIn the MATLAB Command Window, enterrti_update(’’)Models with manyRTI I/O blocksWhen you build models with many RTI I/O blocks, a MATLABsegmentation fault may occur in some cases. Starting MATLAB witheither the -nodesktop or the -nojava option may resolve this problem.To create a new shortcut to MATLAB1 Create a new shortcut to your MATLAB 6.0 (R12) installation onyour desktop.2 From the context menu of the shortcut, select Properties to openthe MATLAB R12 Properties dialog. Change to the Shortcutpage.3 In the Target edit field, enter -nodesktop or -nojava after thematlab.exe command.18dSPACE Release New Features and Migration July 2001

Migrating to dSPACE Release 3.2DSP Blockset Vs. 4.0Direct Look-Up Table(n-D) and MatrixConcatenation blocksStateflow chartsTThe DSP Blockset Vs. 4.0 by The MathWorks is not compatible withRTI1003 and RTI1102. The generated code corrupts the memory onthe DS1003 and DS1102, which results in the real-time applicationreturning wrong results and/or crashing. So you should not use blocksfrom this blockset in an RTI model for the DS1003 or DS1102.However, you can use dSPACE’s FFT Accelerator Blockset for theDS1003 or DS1102.The code generated for Simulink’s "Direct Look-Up Table (n-D)" and"Matrix Concatenation" blocks corrupts the memory on the DS1003and DS1102. This results in the real-time application returning wrongresults and/or crashing. So you should not use these blocks in anRTI model for the DS1003 or DS1102.If your model contains Stateflow charts that make use of global statemachine parented data, the variable group "State Machine Data" inthe generated variable description (TRC) file will be incorrect. Due to abug in The MathWorks’ Real-Time Workshop, most variables in thegroup have identical names and therefore cannot be used inControlDesk layouts. If you reuse existing layouts, the dataconnections will be lost or instruments will show wrong values afteryou rebuild the application with RTI 4.1.The MathWorks provides a patch for this problem. Download it from:http://www.mathworks.com/support/solutions/data/27301.shtml.Dimension of vectorsRTI and ControlDesk treat vectors in MATLAB 5.3.x (R11.x)-basedSimulink models as row vectors. With MATLAB 6.0 (R12), Simulink alsosupports matrices, and column and row vectors. Their dimensions areincluded in the variable description file generated by RTI.Suppose you specified a vectorized block parameter in a MATLAB 5.3.x(R11.x)-based Simulink model as a column vector, for example, [1;2;3](instead of [1,2,3] which is a row vector), and connected the vector toa ControlDesk instrument. When you rebuild your application withRTI 4.1 or higher, these data connections get lost, since the vectororientation changes from row to column. Redraw the dataconnections to fix your layouts.dSPACE Release New Features and Migration July 2001 19

Migrating to dSPACE Release 3.2 With respect to RTI blocks, only the DS2210SL_KNSG_Bx_Cy block forthe DS2210 HIL Board is affected. If this block is configured to getparameter data "by block parameter" (and not "by input port"), thedimension of this parameter also changes in the newly generatedvariable description file. In that case, you have to redraw all the dataconnections related to the DS2210SL_KNSG_Bx_Cy block, if you wantto reuse ControlDesk layouts created for an application built withRTI 3.6 or lower.Custom Code block inRTI-MP modelsThe Custom Code blocks of the Real-Time Workshop library cannot beused with RTI-MP. When RTI-MP partitions the main model, multipleerrors occur and the build process is aborted. The error messages looklike this:Error using ==> feval--> Error evaluating 'CopyFcn' callback of ....Warning messages forsome RTI blocksSimulink issues warning messages for RTI Hardware and Softwareinterrupt blocks and for the Background block. These warnings aresimilar to the following ones:Warning: Function-call subsystem 'RTWSystemCode: Function' will be generated with a fixedprototype since it is driven by at least one non-inlinedS-function.Warning: Inlined function-call subsystem 'RTWSystemCode: Auto' will be non-inlined and will begenerated with a fixed prototype since it is driven by atleast one non-inlined S-function.Ignore these warning messages. The generated code executescorrectly.Bus Selector blockIn some cases, the Simulink Bus Selector block, which is often used inlarge models, does not function correctly, and generates an errorduring model initialization. The build process is aborted. This alsoapplies to Simulink models without RTI blocks and to offlinesimulations.20dSPACE Release New Features and Migration July 2001

Migrating to dSPACE Release 3.2Stateflow 4.0In some cases, Stateflow charts may behave wrongly after theRTI simulation state (simState) is switched from STOP to RUN. Thisproblem may also occur if you build your model with STOP as theinitial simulations state and manually set the simState to RUN afterloading. The problem is caused by missing initialization code. It is fixedwith Stateflow 4.0.2 and higher.Changes with MATLAB 6.0 (R12)Simulation ParametersdialogRead/Write permissionsof a Simulink subsystemHierarchical VariableScopingDefault simulationparametersTWith MATLAB 6.0 (R12), the names of some dialog entries in theSimulation Parameters dialog have changed. In addition, the structureof the dialog differs slightly from the dialog structure in previousMATLAB releases. For details on the dialog settings related to RTI, referto Simulation Parameters Dialog in the RTI and RTI-MP ImplementationReference.Simulink 4.0 allows you to set a subsystem’s Read/Write permissions.However, you can change the parameters of RTI blocks that reside in asubsystem even if the Read/Write permissions are set to “ReadOnly”.Mask parameters can be made available in the variable description filevia the RTI option TRCMaskParameters. However, the HierarchicalVariable Scoping feature that comes with Simulink 4.0 is notsupported for these parameters.Up to RTI 3.6, the Simulation Parameters Dialog of newly createdSimulink models contained suitable default simulation parameters– such as the simulation’s start/ stop time and the solver type – for RTI’sbuild process.If you create a new Simulink model with MATLAB 6.0 (R12), thesedefault settings have changed, and you should modify them accordingto your needs. For example, specify inf as the simulation stop time,ode1 as the solver type and 0.001 as the fixed step size.To avoid having to customize the simulation parameters each time youcreate a new model, you can change the default settings globally viaMATLAB’s Preferences dialog.dSPACE Release New Features and Migration July 2001 21

Migrating to dSPACE Release 3.2 To set preferences for the simulation parameters1 Open MATLAB.2 From MATLAB’s File menu, choose Preferences to open thePreferences dialog. In the dialog, change to Simulink –Simulation.3 In the Simulink Simulation Preferences dialog, specify defaultsimulation parameters according to your needs.Migrating RTI for the DS2210When migrating from RTI 4.0 to RTI 4.1, please note that some blockshave been changed for the DS2210:22dSPACE Release New Features and Migration July 2001

Migrating to dSPACE Release 3.2DS2210APU_INJ_Bx andDS2210APU_IGN_BxblockThe output port names of the DS2210APU_INJ_Bx andDS2210APU_IGN_Bx blocks have been changed from Cylinder x toCylinder x#y. This leads to lost data connections between ControlDeskinstruments and the output ports of the DS2210APU_INJ_Bx orDS2210APU_IGN_Bx block generated by RTI 4.1 in the variabledescription (TRC) file. You have to reconnect the ControlDeskinstruments with the new port names Cylinder x#y.Migrating RTI for MicroAutoBoxWhen migrating to RTI 4.1, please note that the engine control blocksare replaced by the extended engine control blocks. You can still useengine control functions in your models, but you should migrate toextended engine control since engine control is only supported up todSPACE Release 3.2.Migrating RTICANThe procedure when migrating the RTICAN depends on the versionyou migrate from:To migrate from a dSPACE CD prior to CD 3.0.If the model was built with a dSPACE CD prior to CD 3.0(MATLAB 6.0), the update is not started automatically. You must startit manually:In MATLAB, call the rtican_update.m file.To migrate from the dSPACE CD 3.0 (MATLAB 6.0)If the model was built with CD 3.0 (MATLAB 6.0) the update process isexecuted automatically. Therefore, you do not need to perform amanual update.dSPACE Release New Features and Migration July 2001 23

Migrating to dSPACE Release 3.2 Migrating RTI-MPThe Multiprocessor Topology Setup dialog makes it easy for you tospecify the Gigalink connections of your MP system (seeMultiprocessor Topology Setup Dialog in the RTI and RTI-MPImplementation Reference). To build applications for a DS1005multiprocessor system, an additional file is required to provideinformation about the chosen network topology. In previous RTI-MP,only one configuration file was needed for a DS1005 multiprocessorsystem. This configuration file must now exist for each modelindividually and it must be found in the working directory during thebuild process. It is automatically named _tp.m and is generatedfrom the Multiprocessor Topology Setup dialog.You must perform the network topology setup operations for eachmodel.TTo configure the topology of the current model by the topology of adifferent model, you can also import existing _tp.m files.Migrating ControlDeskNote the following when migrating from ControlDesk 2.0 toControlDesk 2.1:LayoutsWhen migrating to ControlDesk 2.1, please note that somerestrictions are made concerning the layouts:After you migrate a layout to ControlDesk 2.1, you can no longerload it with an older ControlDesk version.NPlease note that dSPACE Release 3.1 includes ControlDesk 2.0 anddSPACE Release 3.2 includes ControlDesk 2.1. If you want to uselayouts in both releases, you have to create your layout underControlDesk 2.0. Do not save it under ControlDesk 2.1. ControlDesk 2.1 cannot import COCKPIT layouts (CSS files).24dSPACE Release New Features and Migration July 2001

Migrating to dSPACE Release 3.2Firmware update ofMicroAutoBoxWith ControlDesk 2.1, the firmware of MicroAutoBox cannot beupdated automatically. You have to update it manually instead. Forinformation on how to do this, refer to Updating the Firmware in theControlDesk Experiment Guide.dSPACE Release New Features and Migration July 2001 25

Migrating to dSPACE Release 3.2 26dSPACE Release New Features and Migration July 2001