MATLAB REAL-TIME WORKSHOP 7 - TARGET LANGUAGE COMPILER Guia do Utilizador descarregar pdf (Página 174)

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101

6 Program Architecture

6-12

occurs. The clock tick gives a clockSem (clock semaphore) to the model task

(tSingleRate). The model task will wait for the semaphore before executing.

The clock ticks are configured to occur at the fundamental step size (base rate)

foryourmodel.

The pseudocode below is for a multitasking model using real-time tasking

primitives.

tSubRate(subTaskSem,i)

{

Loop:

Wait on semaphore subTaskSem.

ModelOutputs(tid=i)

ModelUpdate(tid=i)

EndLoop

}

tBaseRate()

{

MainLoop:

If clockSem already "given", then error out due to overflow.

Wait on clockSem

For i=1:NumTasks

If (hit in task i)

If task i is currently executing, then error out due to

overflow.

Do a "semGive" on subTaskSem for task i.

EndIf

EndFor

ModelOutputs(tid=0) -- major time step.

LogTXY -- Log time, states and root outports.

ModelUpdate(tid=0) -- major time step.

Loop: -- Integration in minor time step for

-- models with continuous states.

ModelDeriviatives

Do 0 or more:

ModelOutputs(tid=0)

ModelDerivatives

EndDo (number of iterations depends upon the solver).

Integrate derivatives to update continuous states.

EndLoop

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