Targetlink Presentation

TargetLink 2.2

NEW
 AUTOSAR support

 Extended target simulation and
optimization support
 Function interfaces with pointers
to structures
 Multi-edit and merge functionality
for the Data Dictionary Manager

dSPACE

Target Implementation

2
2007
2006

Contents

Target Implementation 4

TargetLink for Production Code Generation _____________________________ 4
NEW: Production Code for AUTOSAR ECUs _____________________________ 4
Software Quality ___________________________________________________ 9
Software Veriﬁcation and Validation __________________________________ 11

Production Code Generation Software 14

TargetLink ________________________________________________________ 14
How Do I Get the TargetLink I Need? ___________________________ 17
How Do I Work with TargetLink? ______________________________ 19
TargetLink Block Library for Implementation _____________________ 22
Three Simulation Modes for Testing ____________________________ 26
Scaling of Variables _________________________________________ 30
Proving Test-Efﬁciency with Code Coverage ____________________ 32
Incremental Code Generation _________________________________ 33
Code Optimization _________________________________________ 34
Automated Document Generation ____________________________ 35
Customized Code __________________________________________ 36
Automation and Process Integration ___________________________ 37
Integration with OSEK/VDX Operating Systems __________________ 38
NEW: Model-Based Design for AUTOSAR Software Components __________ 40
Managing Data with the dSPACE Data Dictionary _______________________ 44
EmbeddedValidator (by OSC Embedded Systems AG) ___________________ 46

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TargetLink for
Production Code Generation

More than just a
production code generator

Key Features  Production code generation directly from
MATLAB®/Simulink®/Stateflow®

 ANSI C code with the efficiency of handwritten code

 Optimizations for individual processors

 Built-in simulation and testing

 NEW: AUTOSAR support (p. 9, p. 40)

Introduction High-Quality Code for Mass Production
Following successful rapid control prototyping, target implementation is performed.
Functions specified in graphical form are converted to production C code and imple-
mented on the electronic control unit (ECU) together with the drivers and real-time
operating system. Automatic production code generation gives effective support
in this process. TargetLink (p. 14), the production code generator from dSPACE,
generates production code automatically for graphically specified functions straight
from MATLAB®/Simulink®/Stateflow®. This shortens coding and development times
drastically and contributes to a considerable improvement in the quality of the
production code.

 TargetLink (p. 14)

Criteria for Successful Production Code
There are several criteria for the generated code. It must be:
 Very efficient, whether fixed-point or floating-point
 Target-optimized if necessary
 Human-readable
 Configurable and adaptable to company specific coding styles
 Easy to integrate with legacy code, base software, and other application
software in existing ECUs

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2007

TargetLink

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Proven Code Generation with TargetLink
TargetLink, the well-established production code generation software from dSPACE,
meets all the criteria for production code generation and helps function and software
developers to get their control strategies from block diagrams to a production-intent
ECU faster and more reliably, without compromising code efficiency.

Excellent Code Performance
Efficiency is the key to production-quality code. It means that a minimum of execu-
tion time, RAM resources, ROM resources, and stack size is required to run the code
on an embedded processor. TargetLink has been specifically designed for produc-
tion-quality code generation and can well match human programmers’ efficiency in
terms of memory consumption and execution speed – without compromising read-
ability. TargetLink meets the high standards for production-quality code generation
through a variety of state-of-the-art technologies. Numerous benchmarks and user
experience reports show that TargetLink code is broadly similar to what the human
programmers produce.

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2007


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Benchmark results comparing TargetLink code with handwritten code on different
processors.

Target-Optimized Code
One of TargetLink’s strength lies in its target awareness. This means generating code
for a specific compiler/processor combination and running it on an evaluation board
during simulation. Most common processors for embedded applications, especially
in the automotive field, are supported by TargetLink.

Code Configurable According to Customer Wishes
Production-quality code generation involves more than just efficiency. When code
runs on preconfigured prototyping hardware, it is irrelevant how it looks. But when
code is to be implemented on a production ECU, many of its details become quite
important. The memory layout needs to be managed, there need to be efficient
ways to link to external code, and the code output format must comply with specific
standards. TargetLink‘s code output generation can be highly customized to meet
these needs.

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2007

TargetLink

Process Integration
To provide the full benefits of automatic production code generation, the code
generator has to be optimally integrated into the development process and tool
chain, and interact seamlessly with the model-based design tool. Open interfaces
and options for tool automation are useful for connecting with other tools, auto-
mating work steps, and preparing and supporting later development phases such
as unit and module tests.
TargetLink is easy to integrate into existing development environments. All pro-
cesses can be automated via the TargetLink API (application programming interface).
TargetLink comes with a comprehensive data management tool called the dSPACE
Data Dictionary. This is the key aid when data has to be kept independently of models,
and imported to or exported from existing in-house data dictionaries or other file
formats (such as M, MAT, and XLS files). TargetLink can also automatically generate
an ASAM-MCD 2MC (ASAP2) file containing all the information about measurable
and calibratable variables generated by the Code Generator. For implementation
on OSEK/VDX-compliant operating systems, TargetLink generates code according to
the OSEK/VDX OS standard. It is perfectly suited to a seamless devolopment process
for AUTOSAR ECUs.

Integrated Test Environment
One major advantage of using model-based design methods and tools is the ability to
perform early verification by means of simulation. TargetLink supports several different
simulation modes which allow the correctness of an implementation, i.e., the code
generated by TargetLink, to be tested directly. This is done by comparing simulation
results with results from reference simulation. Automated testing with TargetLink is
supported by MTest, the test environment for the control design phase.

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Benefits Bridging the Gap
Automatic production code generation bridges the gap between model-based
function design and production software development. It converts each model
quickly and reliably into highly efficient production code. The major benefits of
using TargetLink for code generation are increased software quality and reduced
development time.

Improved Quality
A code generator can convert an executable specification with a lower implementa-
tion error rate than a human programmer. Manual translation, with iterations and
frequent changes, is not only time-consuming but also extremely error-prone, and
consistency between the software design specification and the code is often lost. This
is not the case when code is generated automatically. A code generator translates the
model and the changes made to it into code reliably, reproducibly, and consistently,
whenever required. It ensures that the generated code is always consistent with the
software design. It is also easy to keep the documentation up to date, as this can
be generated along with the code. Automatic production code generation keeps
software design, implementation, and documentation in sync. And with TargetLink,
the automatically generated ASAM-MCD 2MC (ASAP2) file for calibration is always
up-to-date and consistent with the model.

Reduced Development Time
Together, model-based development and automatic code generation cut the time
needed for coding. But that is not all: In the iterative process of ECU software
development, they also speed up iterations. Moreover, you can implement and try
out changes fast, and verify their impact immediately via simulation – once more
saving time and avoiding errors. Overall, TargetLink allows you to cope with increasing
complexity despite shorter development times, without compromising quality. Our
customers routinely generate large parts of their ECU code with TargetLink, and save
up to 50% of their total development time for ECU code by doing so.

Benefits at a Glance
Development times are reduced and quality is enhanced by:
 Integrated development process
 Reduced coding times
 Fewer implementation errors
 Quick modifications
 Direct verification via simulation
 Early error detection
 Early testing on target processor
 Consistency between model, code, documentation and ASAM-MCD 2MC
(ASAP2) file

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TargetLink

NEW: Production Code for AUTOSAR ECUs
AUTOSAR (AUTomotive Open System ARchitecture) is an industry partnership
that aims to establish an open standard for automotive electric/electronic (E/E)
architectures. The standard provides a basic infrastructure for modular and distributed
application code that is platform-independent and reusable.

The AUTOSAR Software Architecture
The AUTOSAR architecture has three main parts:
 AUTOSAR software components (SW-Cs)
 Run-time environment (RTE)
 Basic software

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The three main parts of the software architecture. The actual application code is
contained in the SW-Cs, and this is the part TargetLink generates code for.

Development Process
The methodology proposed by the AUTOSAR initiative shows that future AUTOSAR-
compliant ECU developments will be highly reliant on efficient tool-support and on
seamless development processes with a high degree of automation.
TargetLink plays a vital role in the AUTOSAR-compliant development process, as it
bridges the gap between the model-based design approach and AUTOSAR-com-
pliant code generation. TargetLink specifically supports designing and generating
production code for AUTOSAR software components (SW-C), which constitute the
application code in the AUTOSAR software architecture (p. 40).

Modeling and Simulation
With TargetLink, AUTOSAR‘s structural elements, such as runnables, ports, and
communication interfaces, are specified directly at block diagram level. Besides
modeling and code generation for SW-Cs, TargetLink also lets you simulate the
modeled AUTOSAR software component designs in early phases of the development
process (p. 42).

Implementation
Another feature that makes code generators so useful is the automatic generation
of software component descriptions, which would be tedious to produce manually
and nearly impossible to keep consistent with the models. Software component
descriptions are required by architecture tools, which are used to import and connect
the SW-Cs. TargetLink can generate a consistent software component description
file together with the code (p. 43).
As a whole, TargetLink greatly simplifies the transformation of function models into
AUTOSAR-compliant software components and provides significant benefits for an
AUTOSAR-compliant development process.

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Software Quality
As a company committed to software quality, dSPACE applies a variety of methods
to ensure the highest standards for its software products.

ISO/IEC 15504-Compliant Development Process
ISO/IEC 15504 (also known as SPICE1)) is an international standard for software
processes. Its underlying concept is that a mature software product requires a mature
development process. dSPACE has dedicated itself to an ISO/IEC 15504-compliant
development process.

Internal Software Quality Management
An internal quality department, the dSPACE quality management team, proactively
manages software quality at dSPACE. The team leads software improvement activities,
sets internal standards, conducts internal assessments, and provides consultation
services to all software groups. It acts independently and ensures that the highest
product quality goals are consistently achieved and sustained.

MISRA C
The British MISRA2) C standard is a widely accepted C subset for projects in the
automotive industry. Its aim is to define rules for avoiding common software errors
that can occur when software engineers write software by hand. Most of these rules
also make sense for machine-generated code.
TargetLink-generated code respects the vast majority of MISRA C rules. If deviations
from the MISRA C standard are a technical necessity, they are identified and well
documented. dSPACE makes this document available to all TargetLink customers.

Certified Code
TargetLink code is in production in numerous applications, some of which are safety-
related – for example, the development of avionics systems. TargetLink-generated code
was certified according to RTCA3) DO-178B Level A, the highest safety level, meaning
that a software failure would have catastrophic consequences for the aircraft.

1)
SPICE: Software Process Improvement and Capability Determination
2)
MISRA: Motor Industry Software Reliability Association
3)
RTCA: Radio Technical Commission for Aeronautics

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TargetLink

Software Verification and Validation
Aspects of Testing Model-Based Testing
As software grows in complexity, and development cycles speed up, the software that
is produced must be tested as early and as exhaustively as possible. Testing is seen as
a key element in quality assurance. Model-based development methods are shifting
tests from code level to model level. In the earlier development phases especially,
there is still great potential for complementing largely experimental development
procedures with methods of model-based, automated testing. Typical test activities
in model-based function development are model-in-the-loop, software-in-the-loop,
and processor-in-the-loop simulation, with back-to-back methods based on them;
black-box approaches such as the classification tree method; white-box methods
with coverage measurement at model and code level; and in the broader sense also
formal verification.

Simulation Modes in TargetLink
Systematic use of the simulation facilities available in MATLAB®/Simulink®/Stateflow®
enables developers to perform fast, simple checks on the results obtained and on
the modifications and adjustments that have been made, during the development
process. Three different simulation modes involve simulating the function model, the
generated code on the development PC, and the generated code on an evaluation
board. This means that testing can be performed stepwise:

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 Simulating the function model as an executable specification is generally
known as model-in-the-loop (MIL) simulation.
 Simulating the generated code on the development PC (host PC) is known as
software-in-the-loop (SIL) simulation. The generated code is translated by a
host compiler.
 Simulating the generated code on an evaluation board, which will typically
contain the processor used in the ECU, is known as processor-in-the-loop
(PIL) simulation. The generated code is translated by the appropriate target
compiler.

TargetLink supports all these simulation modes. A unique feature of TargetLink is
that it logs signal traces during simulation, providing visual feedback of simulation
results from different simulation modes. The results can be compared directly and
used for further automated analysis.

 TargetLink (p. 27)

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Model-Based Testing Systematic Testing with MTest
One of the great advantages of model-based function and software development is
that model-based testing can be done in parallel. Hundreds or even thousands of tests
can be developed, maintained, and performed conveniently with the aid of a model-
based test environment. All the tests can be stored and administered consistently,
so that they can be performed repeatedly (“regression testing”) and reproduced at
any time. MTest, dSPACE’s test environment for systematic and automated testing
during function development, is a powerful tool for managing large test projects.
It automates model-based, systematic testing in conjunction with TargetLink and
covers all the necessary tasks:

 Model-based testing early in the development process
 Back-to-back tests between model and code
 Systematic test development
 Automated test execution, evaluation, and documentation
 Open interfaces for test data and test evaluation functions
 Test project management

MTest can perform a wide variety of tests systematically and automatically for early
function design validation. It supports all TargetLink’s simulation modes, so back-to-
back tests can be run for all test phases throughout function development. MTest
stores and manages all the tests belonging to each function model. The tests can
be reused at any time.

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TargetLink

Coverage Analysis Model-Based Testing
Comprehensive simulations are complemented by code coverage analysis. While
Simulink provides various coverage metrics at model level, TargetLink supports the
measurement of statement coverage and decision coverage at code level during the
simulation or test run. For example, parts of the code that are never executed, despite
a large number of tests, are identified, and then further test cases can be defined
specifically for them. In individual cases, specific parts of the model or code may even
be removed, if they are unreachable and therefore superfluous (dead code).

 Code Coverage (p. 32)

Model Validation by Formal Verification
OSC - Embedded Systems developed the EmbeddedValidator, a tool for the automatic
validation of Simulink®/Stateflow® models, based on TargetLink-generated C code.
EmbeddedValidator checks models for specified functional properties and gives
function developers clear information on whether any model meets the functional
specifications under all conditions.

 EmbeddedValidator (p. 46)

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Production Code Generation Software

TargetLink

Automatic
production code generator

Key Features  Production code generation directly  Optimizations for individual
from MATLAB®/Simulink®/Stateflow® processors

 ANSI C code with the efficiency of  Built-in simulation and testing
handwritten code
 NEW: AUTOSAR support

Description Application Area Key Benefits
Graphical programming using elements such as Converting graphical models directly into produc-
blocks or state diagrams is an evolutionary step in tion code ensures perfect consistency between
programming languages. TargetLink is a software model and code at all times. Since the same
system that generates production code (C code) model will always result in the same proven code,
straight from the MATLAB/Simulink/Stateflow TargetLink’s code generation is deterministic and
graphical development environment. Code gen- thus guarantees the highest software quality.
eration options range from plain ANSI C code Every step can be tested against the specification
to optimized fixed- or floating-point code for via the built-in simulation features. This allows
certain processors. Versatile code configuration early verification and translates directly into cost
options ensure that the production code copes reduction, for example, in the break-even time
with processor constraints. and the cost of software defects.

Efficient Coding Seamless Tool Chain
Efficiency is the key to production-quality code. TargetLink seamlessly connects function develop-
Efficient code means that a minimum of execu- ment and code generation for the control unit
tion time and resources is required to run the or prototyping hardware. Moreover, it closes the
code on a cost-efficient embedded processor. gap between the design and verification phases
Practical experience shows that code generated by automatic means. This provides transparent
with TargetLink is as efficient as handwritten and defined development processes for con-
code. Apart from benchmark performance, fac- ventional and AUTOSAR ECUs. Calibration files,
tors such as human readability, traceable model/ AUTOSAR software component descriptions, and
code dependency, and last but not least, the comprehensive documentation are generated in
target awareness of the code, are what makes addition to the production code.
TargetLink such a useful tool.

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TargetLink

Main Features and Benefits

Feature Description Benefit
Efficient code  Efficient fixed-point or floating-point production  Your specifications – models and diagrams –
code directly from MATLAB/Simulink/Stateflow are directly translated into efficient C code
Code reliability  Consistent, deterministic translations of models  Errors are avoided
into stress-tested C code
Target optimizations  Code optimization for individual processors/  Highly efficient code that can cope with
compilers processor constraints
Incremental code generation  Code generation for certain subsystems  Faster code generation, approved code does not
need to be touched
Code coverage analyses  Dynamic analyses of program execution to find  Potential problems are detected
areas that have not been run through
Human readability  Concise, yet readable code  Easy code reviews
Automatic scaling  Intelligent scaling based on worst-case  Precision is ensured
propagation of signal ranges and simulation
based scaling
Test mechanisms  Various mechanisms to test the production code  Malfunctions found at earliest stage
against the specification (MIL, SIL, PIL)
Compliance with standards  Compliance with relevant quality and  Guaranteed quality and interoperability
functionality standards
Multirate code  Full support of multirate systems with intertask  You can already define tasks at block level
communication
Support of OSEK/VDX-  Support for the standardized OSEK/VDX  You can design multirate software that is
compliant operating systems interface and features compliant with OSEK operating systems
NEW: AUTOSAR support  Support for modeling and code generation for  TargetLink 2.2 bridges the gap between model-
AUTOSAR software components (SW-C), based design and AUTOSAR-compliant software
and generation of SW-C descriptions development
dSPACE Data Dictionary  Central container to handle variables, data  You can manage complex data to plan and
structures, scaling formulas, tasks, functions structure your projects
TargetLink Blockset  A free TargetLink blockset that can be used  Large workgroups can work with TargetLink
without having the Base Suite installed models without the need for additional
TargetLink licenses
Calibration data generation  Calibration data exported as ASAM-MCD 2MC  Automated and complete process with perfect
(ASAP2) file for calibration tools consistency between model and calibration data
Documentation  Automatic model and code documentation  Your projects are transparent and trackable

Order Information
Classification Type Order Number
TargetLink Base Suite Base Suite  TBS
Target Optimization Modules Freescale HCS12/HC12/Cosmic  TOM_HCS12/Cosmic
for certain processors/compilers Freescale HCS12/Metrowerks  TOM_HCS12/Metrowerks
(further details see p. 199)
Freescale MPC5xx/Wind River Diab  TOM_MPC5xx/Diab
Freescale MPC5xx/Green Hills  TOM_MPC5xx/GREEN
NEW: Freescale MPC55xx/Wind River Diab  TOM_MPC55xx/Diab
Infineon C16x/Altium Tasking  TOM_C16x/Tasking
Infineon TriCore/Altium Tasking  TOM_TriCore/Tasking
Renesas M32R/GAIO  TOM_M32R/GAIO
Renesas SH-2/Renesas  TOM_SH2/SHC
Other modules Target Simulation Module (for all supported  TSM
processors)
TargetLink Module for Operating Systems – OSEK  TMOS_OSEK
NEW: TargetLink AUTOSAR Module  TAS
dSPACE Data Dictionary Manager (included)  DSDD_MANAGER

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Relevant Software and Hardware
Software
Included Stand-alone blockset for free model exchange  TargetLink blockset
Data dictionary  dSPACE Data Dictionary
Required Integrated development environment  MATLAB®/Simulink®/Stateflow®
from The MathWorks
 Compiler for host simulation included in
MATLAB
Operating system  Windows 2000 or Windows XP (32-bit version
only)
Optional Compilers for processor-in-the-loop tests  Target-specific compiler for processor-in-the-loop
tests with Target Simulation Module

Hardware
Required Minimum system  Pentium III processor, 800 MHz
 512 MB RAM, 350 MB free disk space
Recommended system  Pentium 4 processor, 1.6 GHz or higher
 Memory ≥ 512 MB RAM, 350 MB free disk space

NEW: Additional TargetLink 2.2 Features
Improvement Detailed Description
Model-based design for AUTOSAR ECUs  New AUTOSAR blocks for specifying AUTOSAR‘s structural elements, such as
runnable entities, ports, etc.
 Code generation for AUTOSAR software components (SW-Cs)
 Export of software component descriptions to integrate the generated SW-Cs
in an AUTOSAR software architecture
Function interfaces with pointers to structures  TargetLink 2.2 now also supports pointers to structures in the function signature,
which is particularly efficient where there are a large number of function
parameters and provides extended flexibility for structuring the code.
Target Optimization Module (TOM) for MPC55xx  Optimized code generation for MPC55xx/Windriver Diab compiler
Target Simulation Module (TSM) extensions  Freescale MPC5554/Metrowerks CodeWarrior and GNU compilers
 Freescale S12X/Cosmic compilers
 NEC V850 Demonstration Kit F_Line – Drive It/NEC compilers
 Infineon TC1766/Tasking compilers
 Infineon TC1796/GNU Hightec compilers
More flexible code generation  TargetLink’s numerous code generation options have been extended, for example,
with regard to variant coding, and by access functions for structures and bitfields.
All Code Generator settings can now be edited via a convenient user interface.
Extended modeling options  TargetLink 2.2 not only allows numerous blocks to inherit properties, it also
supports bus-capable blocks and code generation for nested graphical functions
in Stateflow.
Multi-edit functionality with the new Object  The new Object Explorer pane provides an overview of multiple objects and
Explorer pane in the Data Dictionary Manager selected properties and allows the properties of multiple data dictionary objects
such as variables to be modified simultaneously, which greatly simplifies the
handling of large data volumes with the Data Dictionary Manager.
Improved model-code traceability  Code files can be optionally generated in HTML format, with hyperlinks for
navigation from model to code and vice versa at a click.
This improves overall traceability and simplifies code reviews.
Requirements Management Interface  TargetLink 2.2 now preserves requirements information during model conversion
from Simulink to TargetLink and TargetLink to Simulink, making it easier to use
Simulink’s Requirements Management Interface from inside TargetLink.

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TargetLink

How Do I Get the TargetLink I Need?
TargetLink Modules Module Overview
TargetLink is available as a base suite plus addi-
tional modules, so that you can adapt it to
requirements.

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1)
Usable in stand-alone mode without license
2)
Data Dictionary Manager also available as a standalone licence
e.g to be used with the standalone blockset

TargetLink Base Suite Target Simulation Module (optional)
 Highly efficient ANSI C code generation  Test your generated code on the target
from MATLAB/Simulink/Stateflow microcontroller
 For all microcontrollers with ANSI C (for supported processors and evaluation
compiler boards see p. 18)
 Fixed-point code, floating-point code or a
mixture of both
 dSPACE Data Dictionary (p. 44)
 TargetLink blockset (p. 22)
 Floating network license available for
flexible use of TargetLink in development
groups

Target Optimization Modules (optional) TargetLink Module for Operating Systems
 For target-specific, optimized code (optional)
generation  Support of OSEK/VDX-compliant operating
 Uses compiler-specific language extensions systems (p. 38)
and assembly macros
(for supported processors see p. 18)

NEW: TargetLink AUTOSAR Module
(optional)
 Support for the development of AUTOSAR
Software Components (SW-C) (p. 40)

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2007


Processors and Supported Processors and
Evaluation Boards Evaluation Boards
TargetLink supports most processors for embed-
ded applications, especially in the automotive
field. If a processor is missing, its support is
perhaps scheduled for the next version or can be
provided as an engineering service. Please inquire.

ANSI C
Compiler Supported by Compiler Supported by Evaluation Boards
Processor Family Code
Target Optimization Module Target Simulation Module Supported by TargetLink
Support
Any microprocessor with  – – –
an ANSI C compiler
Freescale HCS12  Cosmic compilers and Cosmic compilers and MCT HCS12 T-Board and
Metrowerks CodeWarrior Metrowerks CodeWarrior Freescale M68EVB912DP256
compilers compilers
Freescale S12X  – Cosmic and Metrowerks MCT S12X T-Board
CodeWarrior compilers
Freescale MPC5xx  Green Hills and Wind River Green Hills, Metrowerks Axiom CME-0555 and
Diab compilers CodeWarrior, and Wind River Axiom CMD-05651)
Diab compilers
Freescale MPC55xx  Wind River Diab compilers Green Hills, Metrowerks Axiom MPC5554DEMO
CodeWarrior, GNU and Wind
River Diab compilers
MicroTec and Wind River Diab dSPACE DS1603
compilers
Infineon C16x  Altium Tasking compilers Altium Tasking compilers i+ME eCAN C167 CR
Infineon TriCore  Altium Tasking compilers Altium Tasking and GNU2) Infineon TriBoard TC1775,
compilers TriBoard TC1766 and
TriBoard TC1796
NEC V850  – Green Hills and NEC compilers NEC Demonstration
Kit F_Line - Drive It
Renesas H8S  – Renesas compilers Renesas EVB2633F
Renesas M32R  GAIO compilers GAIO and Renesas compilers Renesas MSA2114
Renesas SH-2  Renesas compilers Renesas compilers Renesas EVB7055F and
CDK7058
STMicroelectronics ST10  – Altium Tasking compilers FS Forth-Systeme STart276
Development Board
Texas Instruments  – Texas Instruments compilers Texas Instruments TMS470R1x
TMS470
1)
Only Wind River Diab Compiler supported.
2)
Only for TC1796

Some of the evaluation boards need to be modi- For more information on software compatibility
fied (loader, external RAM, etc.). Please order with target compilers and evaluation boards,
them through dSPACE to ensure a correct board please refer to:
setup. www.dspace.de/goto?compatibility

Engineering Services TargetLink Engineering Services
Our engineering portfolio offers special TargetLink  Integration of TargetLink with
customer services: your development environment
 Knowledge transfer through dSPACE  Development of target modules for
consultants (on-site and off-site) supporting customer-specific processor/
 Hands-on support: Our engineers can join compiler combinations
your project team during evaluation and  Development of customer-specific code
introduction of TargetLink output templates according to company
code style guides

18
2007

TargetLink

How Do I Work with TargetLink?
Typical Steps in Generating Production Code

This diagram illustrates the workflow
between model design and code
implementation. It also shows that
code verification based on simulation
is an iterative process. The workflow
is shown in greater detail on the
following pages.

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2007


Workflow Control Design and Function Prototyping
Control design starts with creating a control
model in the integrated design environment
MATLAB/Simulink/Stateflow. Before production
code generation with TargetLink, you could use
dSPACE prototyping systems to carry out con-
venient function prototyping and validation of
your new ECU control algorithms.

Using the TargetLink Block Library
To implement the control algorithms in C code,
you need the TargetLink block library. TargetLink
blocks contain additional data for code genera-
tion, such as the scaling information for fixed-
point variables, variable classes, variable names
etc. A utility automatically replaces your Simulink
controller model with blocks from the TargetLink
block library. The process is reversible without any
data losses. If you already use the free TargetLink
Blockset during control design, conversion is not
necessary.

Model-in-the-Loop Simulation on Host PC
Model-in-the-loop simulation (floating-point)
serves as a reference for the following steps and
provides the minima and maxima of variables
as a basis for subsequent fixed-point scaling if
desired.

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TargetLink

Automatic or Manual Scaling Workflow
If you want to generate fixed-point code, the
scaling has to be specified. Scaling can be done
manually, or by simulation-based autoscaling
or worst-case autoscaling. You can choose
from a broad range of scaling options for each
TargetLink block individually.

Code Generation
The TargetLink Base Suite generates highly efficient
ANSI C code for a controller model at the click of
a button. This code efficiency can be increased
even further by generating code for a specific
compiler/processor combination using a Target
Optimization Module (see p. 17, p. 18).

Verification on Host PC via Verification on Target Processor via
Software-in-the-Loop Simulation Processor-in-the-Loop Simulation
By means of software-in-the-loop simulation on Using the optional Target Simulation Module
a host PC, you can compare the behavior of the (see p. 17, p. 18), you can execute processor-in-
generated code with the reference data achieved the-loop simulation to verify the generated code
in model-in-the-loop simulation. TargetLink offers on an evaluation board equipped with the same
an intelligent graphical user interface, where you target processor as your final ECU. Successful
can select signal histories of blocks for detailed verification of processor-in-the-loop simulation
analysis. with model-in-the-loop simulation and softwa-
re-in-the-loop simulation ensures the software
quality of the generated code. TargetLink also
provides information on the code size, the re-
quired RAM/ROM, and the stack consumption
as it evolves over time. The execution time can
be displayed as well.

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2007


TargetLink Block Library for Implementation
Extended Implementation-Specific Information
Block Functionality The Simulink block library is very powerful in have an extended dialog which allows you to
simulation tasks. It provides all the necessary enter the implementation-specific information
specification features for the job. When it comes necessary for code generation. Each block also
to code generation, however, more information provides a means of data logging, overflow de-
is needed for each block. That is why there is a tection, and saturation simulation. A converter
TargetLink block library. The TargetLink blocks automatically replaces each supported Simulink
significantly extend the functionality of the block with the corresponding TargetLink block.
supported Simulink blocks. TargetLink blocks

TargetLink block dialog for entering implementation-specific
information like data type, variable name, scaling data etc.

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2007

TargetLink

Free Model Exchange TargetLink Blockset
The TargetLink Blockset is a stand-alone version TargetLink Blockset offers the following
of the block library used with the TargetLink Base features:
Suite that allows model transfer without model  Free model exchange in workgroups
conversion. The TargetLink Blockset is compatible without conversion
with The MathWorks’ Real-Time Workshop® and  Simulating in ﬂoating-point precision
can be used on any computer that has MATLAB/ with Simulink
Simulink installed. Thus, TargetLink models can  Code generation
be exchanged freely without the need for extra with Real-Time Workshop
TargetLink licenses.

Linkage Between Control Design,
Prototyping and Implementation
You can use the free TargetLink Blockset to the TargetLink Blockset allows you to use the
design and prototype your controller without same models for rapid control prototyping and
TargetLink installed. TargetLink blocks can be production code generation without model con-
used for rapid control prototyping on dSPACE version. Development iterations are thus easier
hardware. Although the added functionality of to perform and less prone to error.
the TargetLink blocks is not available in that case,

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Rapid control prototyping with Real-Time Workshop and dSPACE hardware does not require
model conversion.

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2007


Block Overview TargetLink Block Library

These TargetLink blocks
extend corresponding blocks
in the Simulink block library.

Directly Supported Simulation Blocks

These Simulink blocks
are directly supported by
TargetLink.

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2007

TargetLink

TargetLink Utility Blocks Block Overview
TargetLink Utility blocks provide
access to specific features of
TargetLink or further specify the
code generation process for the
model.

Multirate Blocks
The TargetLink multirate blocks
make multirate operating system
objects available in block diagrams.
There are even OSEK-specific blocks
like the CounterAlarm.

NEW: AUTOSAR Blocks
Model-based design for AUTOSAR ECUs is
supported by blocks for structural elements such
as runnables, ports, and certain communication
elements.

Handling Large Models with Block Configurations
the Property Manager
Since it is time-consuming to change the properties simultaneously. For Stateflow objects this
ties of large models via block dialogs manually, includes charts, events, states and data. The
TargetLink provides the Property Manager. This Property Manager provides a tree view of the
is a graphical user interface that displays the model’s subsystem hierarchy, a list of blocks in
properties of TargetLink blocks and Stateflow each subsystem, and a configurable list of proper-
objects in a model. The Property Manager allows ties for each block.
you to view, filter and modify several proper-

The Property Manager
for handling models with
numerous blocks.

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2007


Three Simulation Modes for Testing
Confirmation Comparing Simulation Results Test Against Specification
by Simulation Although code generators produce virtual- Verification means checking the implementation
ly flawless results when compared to manual against the specification. The specification is the
programming, the generated code still needs to simulation model, as executed by Simulink and
be tested as well as the underlying specification. Stateflow. The executable and approved specifica-
TargetLink provides powerful and easy-to-use tion is used as a reference. The implementation is
means to verify the generated code. The code the generated and compiled C code, as executed
tests are performed in the same simulation envi- by the target processor. TargetLink provides a
ronment that was used to specify the underlying 3-step verification process which shows at a
simulation model. Functional identity has been click that specification and implementation are
achieved when simulation results match. The functionally identical. On the basis of a controller
validity of tests is documented by a C0 or C1 model, TargetLink performs simulations of the
code coverage analysis. model, the generated code on the host, and the
generated code on the target, without additional
model modifications or preparations.

Three-Step Model-in-the-Loop Simulation
Verification Process The first step is to record data for reference plots Model-in-the-loop simulation also serves other
from the simulation model. Signals from selected purposes. It is used for detecting overflows of
blocks and state variables are automatically integer variables, and its results are used for
logged by TargetLink. The model-in-the-loop simulation-based autoscaling.
simulation captures the specified behavior of the
model that is to be implemented in C code later
on. The recorded signal plots act as the reference
for the next verification steps.

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TargetLink performs the three different simulation modes without any changes to the model
or the generated code.

Software-in-the-Loop Simulation
Software-in-the-loop means the code is gene- the host PC instead. The signal plots should be
rated and replaces the controller blocks in the largely identical when compared to the results of
same simulation model (for example, same model-in-the-loop simulation. If they are not,
plant and stimulus signals). TargetLink does they can be analyzed to get a better understan-
this automatically in the background. You still ding of the cause of the deviation and to fine-
see, though it is the code that is executed on tune the fixed-point settings.

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2007

TargetLink

Processor-in-the-Loop Simulation Three-Step
Finally, the generated code runs on an embedded with the target compiler and downloaded to Veriﬁcation Process
processor. Code that runs correctly on the host the evaluation board. TargetLink manages the
PC can still cause trouble on the target processor. communication between the host PC and the
To check that this does not happen, TargetLink evaluation board. All these activities are auto-
offers processor-in-the-loop simulation. An off- mated and need no user interaction. Simulation
the-shelf evaluation board is connected to the on an evaluation board just takes two mouse
host PC, and the generated code is compiled clicks.

Compare Plots Efﬁcient Approach Display Results
The simulation results are automatically plotted This 3-step approach, using model-, software-
in the same plot window that was used by the and processor-in-the-loop simulation, is easy,
other simulation modes. This is a convenient intuitive, and quick. As a result, tests can be
way to compare the results of simulations in carried out more frequently, which increases
different modes directly. For example, if plots software quality.
from processor-in-the-loop simulation deviate
from software-in-the-loop simulation, the most
likely cause is a bug in the target compiler or a
problem with the processor.

Signals from MIL and SIL
simulation are displayed
and can be analyzed to
measure deviations.

Complete Simulation Support Unparalleled
TargetLink systematically utilizes all the available Simulation Concept
simulation options to give users an unique
simulation environment.

MIL, SIL, PIL Simulation at a Click Integrated Data Logging
Switching from MIL to SIL or PIL simulation TargetLink blocks come with integrated data
requires just a click. There is no need for a logging functionality. You can specify if block
separate test model or generating S-functions output signals can be logged in the block dialog.
or manual insertion into a test harness model. No changes to the model are necessary, i.e., you
TargetLink has built-in simulation and logging do not have to insert scope blocks or suchlike.
intelligence in all simulation modes. Most importantly, data logging is not limited to
MIL simulation but available for all simulation
modes without further user interventions.

The TargetLink block dialog lets you specify
whether to log signal histories –
independent from the simulation mode.

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2007


Unparalleled Result Plotting
Simulation Concept TargetLink directly visualizes the simulation results Detailed signal analysis can be performed via
of logged signals. Simulation results from diffe- additional plot windows that include details
rent simulation runs, no matter which simula- about deviations in individual simulation runs.
tion mode, are plotted one above the other in This is also available at a click, and you do not
the same plot window, using different colors. need to write your own plotting scripts.

Signal Analysis
In the Detailed Signal Window, you can zoom
signals to inspect deviations visually and get a
clear picture of the signal behavior. Constraints
can be displayed to show immediately whether
signals are within deﬁned ranges, which is espe-
cially important for scaling. You can use a cursor
to scroll through the signal histories and display
signal values numerically. The Signal Deviation
Window gives you a graph of the deviation
between two signals. These tools are all available
at a click for convenient analysis.

The Signal Deviation Window displays a graph
of the deviation between two signals.

The Detailed Signal Window
lets you inspect signals
and displays their values
numerically.

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2007

TargetLink

Advantages of Built-in Logging Benefits of
and Simulation the Simulation Concept
 MIL/SIL/PIL simulation at a click  Direct feedback if code generation matches
 Built-in data logging and result plotting for model simulation
all simulation modes  Especially useful for conversion from fixed
 No changes to the model necessary point to floating point
 Allows direct comparison of In brief: Great ease of use with unmatched
MIL/SIL/PIL results simulation flexibility
 Detailed signal analysis and deviation plots

Profiling the Code Run-Time Analysis
Processor-in-the-loop simulation can also be used you to try out block options, such as selecting
to profile the generated code. During simulation, different search routines of a look-up table block.
TargetLink automatically measures execution time You can immediately measure the impact of the
and stack consumption directly on the target change on code efficiency. Sound implementa-
processor. A code summary lists RAM and ROM tion decisions based on accurate benchmarks
usage for each function. These features allow become a matter of a few clicks.

The results of code profiling:
execution time measurement,
stack size measurement, and code
summary of generated code.

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2007


Scaling of Variables
Fixed-Point Accuracy Quick and Accurate Scaling Overflow Detection
If TargetLink is to generate only floating-point Another big advantage: fixed-point overflows
code, scaling is not necessary. However, if no longer entail hour-long debugging sessions.
TargetLink is used to generate fixed-point code, With TargetLink, scaling can be checked during
autoscaling can be a huge time-saver. It takes simulation. If an overflow occurs, TargetLink
away the tedious and error-prone task of manu- shows the exact location in the block diagram.
ally scaling each variable and each operation in The problem can be corrected right away.
the software. What took days and weeks in the
past can now be done in minutes and hours.

Plot overview window indicating an overflow of an outport block.

Scaling Choices Scaling Properties Automatic Scaling
TargetLink offers a two-coefficient linear scaling These scaling properties give ample choices to
method, which is widely used in embedded fine-tune fixed-point code to the conflicting
control applications. The properties for specifying requirements of low execution time, high com-
fixed-point scalings in TargetLink are: putational precision and overflow avoidance.
 Data type Fixed-point scaling can be done manually by a
 Power-of-two scaling factor or software engineer, but in most instances it is left
arbitrary scaling factor to the autoscaling tools from TargetLink.
 Offset value
 Constraint values
 Bit safety margins
 Saturation options

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2007

TargetLink

Simulation-Based Autoscaling Worst-Case Autoscaling Efficient
Simulation-based autoscaling requires that the When simulation is not possible or deemed Scaling Methods
model can be simulated. This necessitates either unfeasible, TargetLink offers the method of
a plant model or stimulus data for all inports. autoscaling based on a worst-case range calcula-
During simulation, TargetLink records the signals tion. This method requires value range information
from each Simulink block and determines the for inports and some specific blocks inside the
value range. This allows TargetLink to calculate model. TargetLink propagates these value ranges
optimum scaling for each block. The advantage through the model and calculates the best scaling.
of this scaling method is maximum computa- The advantages of this scaling method are that
tional precision. it does not require a plant model and that over-
flows will be prevented.

Dialogs to carry out automatic scaling.

Scaling with Scaling Formulas and
Type Definitions
Using scaling formulas is not actually an auto-
scaling method; however, it still allows you to
scale a model quickly. A complete set of scaling
properties is defined under one name in the
dSPACE Data Dictionary and selectable in block
dialogs or in the Property Manager. This allows
you to quickly scale signals of one kind or sub-
systems with the same scaling parameters.

31
2007


Proving Test Efficiency with Code Coverage
Efficiency and Run-Time Analyses
Reliability TargetLink offers C0 and C1 coverage analysis. coverage analysis document is generated with
This is also referred to as ‘statement coverage’ a coverage overview table and a detailed list-
and ‘decision coverage’. ing of the code annotated with the execution
During simulation on host or target systems, count numbers for each block. This report deliv-
counters document the frequency of execution ers immediate information on test efficiency and
for each branch of code. After simulation, a code completeness.

Quality and Certification
Code branches that have never been executed
can be easily identified and test strategies can
be adjusted accordingly. Consequently, the cov-
erage analysis further contributes to increased
software quality and is a prerequisite to code
certification.

Code Total Reached Unreached
Coverage Branches Branches Branches
Fuel system 61.87% 139 86 53
Fuel rate controller 58.91% 129 76 53
Fuel rate calculator 56.56% 122 69 53
Correction redundancy 100% 7 7 0
Airflow controller 100% 10 10 0
Airflow calculation 100% 9 9 0
Airflow subsystem 100% 1 1 0

Example of the information provided by code coverage.

Annotated code listing with execution counts for each code block.

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2007

TargetLink

Incremental Code Generation
Working with Subsystems Benefits Handle Large Models
Incremental code generation is available for Incremental code generation has several advan-
Simulink subsystems which contain a TargetLink tages:
Function block. In a team of developers, each  Team members can work independently
member can work on a subsystem individually on different subsystems.
and just generate code for that. TargetLink per-  Code generation time can be significantly
forms the necessary consistency checks when reduced by generating code only for
building the overall application from all the subsystems that have been modified.
parts.  Code for individual subsystems in a model
can be tested and frozen, while development
in other subsystems continues.

Specifying incremental code
generation properties for a
subsystem.

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2007


Code Optimization
Highly Efficient Optimized ANSI C Code Standard Optimizations
Production Code TargetLink generates highly efficient ANSI C TargetLink uses many of the optimization tech-
code as a standard. This is achieved by various niques that are also used by C compilers. These
optimization techniques, which roughly fall into are optimizations like constant folding, algebraic
3 categories: transformations, dead code elimination, and life-
 Standard optimizations span analysis of variables, to name just a few.
 Interblock optimization They are standard optimization techniques and
 Code pattern libraries are used by TargetLink whenever applicable.

Interblock Optimization
Interblock optimization combines the code of usually combined in one expression. Code for
several blocks in one C code line. TargetLink’s calculating the inputs of a switch block is moved
interblock optimization gives the generated code inside the If-Else instruction. The example shows
a human touch, because TargetLink combines interblock optimization at work. This technique
code in a very similar way to what a skilled soft- saves execution time and ROM size, but most
ware engineer would do. For instance, a string importantly, it reduces stack size significantly and
of arithmetical, logical, and relational blocks is enhances code readability considerably.

Example of Interblock Optimization.

Code Pattern Libraries
Combining the behavior of several blocks in one
C code line works well for smaller functionality.
If a block is quite powerful, for example, the
2-D Look-Up Table block or the FIR Filter block,
it needs several lines of code. TargetLink takes
them from an internal code pattern library during
the code generation process.

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2007

TargetLink

Optimized Assembly Code Target-Optimized
With the optional target optimization module code patterns. Compiler-specific instructions and Code
(p. 199, p. 200), processor- and compiler-specific even inline assembly macros are used to deliver
language extensions can also be used for code top-notch code performance. Some features of
optimizations. This further increases the efficiency a processor core can be used only by applying
of the generated code. For every processor/ these coding techniques. This sometimes makes
compiler combination supported by TargetLink, the difference in meeting hard real-time require-
there is a library containing highly optimized ments and ROM size limits.

ANSI-C Optimized Assembly Code
Cycles 1232 45
Code size 100 byte 54 byte

64-tap FIR filter, measured with Infineon TriCore/Tasking
Compiler: Optimized code is 27 times faster than ANSI-C.

Automated Document Generation
Consistent Documentation and Model Stay Organized
TargetLink does not just generate code, it also subsystems, and simulation plots can also be
documents exactly what it does – keeping per- included. Links to the generated C code are
fect consistency with the model and the code. provided. Document generation can be custo-
An automatically generated document provides mized to specific user needs, for example, the
information about function interfaces, global level of detail. Documentation can be generated
variables, a list of all measurable and adjustable in the HTML, RTF (for word processing) and PDF
variables, scaling parameters, code generator formats.
options and much more. Screenshots of models,

Production code documentation
in HTML.

35
2007

Targetlink Presentation

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