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Version 6.6 (R2007a) Real-Time Workshop Software

This table summarizes what's new in Version 6.6 (R2007a):

New Features and Changes	Version Compatibility Considerations	Fixed Bugs and Known Problems	Related Documentation at Web Site
Yes Details below	Yes—Details labeled as Compatibility Considerations, below. See also Summary.	Bug Reports Includes fixes	Current product documentation

New features and changes introduced in this version are

• Static File Dependencies Reduced For Improved Integration and Builds

• Support for Simulink Legacy Code Tool Enhancements

• New Target Language Compiler Tutorial

• Code Generation for Multidimensional Signals

• Enhanced Checking and Reporting for Identifier Conflicts

• Enhanced Support for Tunable Parameters in Expressions

• New Loss of Tunability Diagnostic

• Support for Microsoft Visual C++ Express Edition

• Enhanced Code Efficiency, Including Merge Block Optimizations

• Reporting of Unconnected Signal Generators

• Real-Time Workshop Profiling Works with Referenced Models

• New Makefile Command Controls Location and Naming of Model Reference Libraries

• New TMF Token MODELREF_LINK_RSPFILE Supports Linking Response Files for Model Reference

• New sl_customization Based Method for Registering External Mode Transport Layers

• New and Enhanced Demos

Static File Dependencies Reduced For Improved Integration and Builds

The Real-Time Workshop software provides additional source files and functions for use in building your code in the matlabroot/rtw/c/libsrc directory. During code generation, these files are added to the build process. This release removes over 200 source files from the libsrc directory. Instead, these functions and files are generated only when needed. This reduces the number of additional source files required to compile and build the code, which improves compile time and can simplify code integration and verification.

Support for Simulink Legacy Code Tool Enhancements

The Real-Time Workshop software supports the following Legacy Code Tool enhancements:

• New fields in the Legacy Code Tool data structure: InitializeConditionsFcnSpec and SampleTime. InitializeConditionsFcnSpec defines a function specification for a reentrant function that the S-function calls to initialize and reset states. SampleTime allows you to specify whether sample time is inherited from the source block, represented as a tunable parameter, or fixed.

• Support for state (persistent memory) arguments in registered function specifications.

• Support for complex numbers specified for input, output, and parameter arguments in function specifications. This support is limited to use with Simulink built-in data types.

• Support for multidimensional arrays specified for input and output arguments in function specifications. Previously, multidimensional array support applied to parameters only.

• Ability to apply the size function to any dimension of function input data—input, output, parameter, or state. The data type of the size function's return value can be any type except complex, bus, or fixed-point.

• A new Legacy Code Tool option, 'backward_compatibility', which you can specify with the legacy_code function. This option enables Legacy Code Tool syntax, as made available from MATLAB Central in releases before R2006b, for a given MATLAB session.

• The following new demos:

  rtwdemo_lct_sampletime

  rtwdemo_lct_work

  rtwdemo_lct_cplxgain

  rtwdemo_lct_ndarray

For more information, see

• Integrating Existing C Functions into Simulink Models with the Legacy Code Tool in the Writing S-Functions documentation

• Automating the Generation of Files for Fully Inlined S-Functions Using Legacy Code Tool in the Real-Time Workshop documentation

• legacy_code function reference page

New Target Language Compiler Tutorial

The Target Language Compiler (TLC) has been updated and includes a new tutorial that provides new users with an introduction to TLC syntax. See Target Language Compiler Tutorials for more information.

Code Generation for Multidimensional Signals

The Real-Time Workshop software now supports code generation for multidimensional signals. For more information, see Multidimensional Signals in the Simulink release notes.

Enhanced Checking and Reporting for Identifier Conflicts

The Real-Time Workshop software supports the following identifier conflict enhancements:

• Performance improvement: For large models, the Real-Time Workshop software reviews 100 times more identifiers while delivering the same performance as in R2006a.

• MISRA^® compliance: All model reference identifiers and all reused subsystem identifiers comply with MISRA guidelines.

• Conflict detection: A more unified conflict detecting and reporting mechanism checks more identifiers, providing more information when conflicts occur.

Enhanced Support for Tunable Parameters in Expressions

Expressions that index into tunable parameters, such as P(1)+P(2)/P(i), retain their tunability in generated code, including simulation code that is generated for a referenced model. Both the indexed parameter and the index itself can be tuned.

Parameter expressions of the form P(i) retain their tunability if all of the following are true:

• The index i is a constant or variable of double data type

• P is a 1D array, or a 2D array with one row or one column, of double data type

• P does not resolve to a mask parameter, but to a variable in the model or the base workspace

New Loss of Tunability Diagnostic

Previously, any loss of tunability generated a warning. In R2007a, you can use the Loss of Tunability diagnostic to control whether loss of tunability is ignored or generates a warning or error. See Detect loss of tunability for details.

Support for Microsoft Visual C++ Express Edition

The Real-Time Workshop software now supports using Microsoft^® Visual C++^® Express Edition for compilation.

Enhanced Code Efficiency, Including Merge Block Optimizations

The Merge block adds support for dead code elimination of its inputs. For any Merge block input port that is connected to an unconditionally executed block, dead code elimination removes the calculation of unused values.

Reporting of Unconnected Signal Generators

During code generation, the Signal & Scope Manager reports unconnected signal generators.

Real-Time Workshop Profiling Works with Referenced Models

You can now use Real-Time Workshop Profiling with referenced models, which was not possible in previous releases.

New Makefile Command Controls Location and Naming of Model Reference Libraries

Except on the Apple^® Macintosh^® platform, you can use the makefile command USE_MDL_LIBPATHS to change the Real-Time Workshop default location and naming for model reference libraries. See Controlling the Location of Model Reference Libraries for details.

New TMF Token MODELREF_LINK_RSPFILE Supports Linking Response Files for Model Reference

R2007a adds the template makefile (TMF) token MODELREF_LINK_RSPFILE for use with model reference. The MODELREF_LINK_RSPFILE token for the top model expands to the name of a response file that the top model links against. This token is valid only for build environments that support linker response files.

MODELREF_LINK_RSPFILE offers a preferred alternative to the token MODELREF_LINK_LIBS, which expands to a list of referenced model libraries that the top model links against, provided that the linker supports response files.

For more information, see Supporting Optional Features in the Real-Time Workshop Embedded Coder documentation.

New sl_customization Based Method for Registering External Mode Transport Layers

This release introduces a new method for registering external mode transport layers with the Simulink software. To register a TCP/IP or serial transport layer with a custom target, or to register a custom transport layer, you must add an entry of the following form to an sl_customization.m file on the MATLAB path:

function sl_customization(cm)
  cm.ExtModeTransports.add('stf.tlc', 'transport', 'mexfile', 'Level1');
%end function

For more information about using the new transport registration method with custom targets and/or custom transport layers, see Client/Server Implementations and in the Real-Time Workshop User's Guide.

Compatibility Considerations

In previous releases, external mode transport layers were associated with targets based on target class, so that a custom target derived from a MathWorks GRT or ERT target by default would inherit its external mode transport layers.

Beginning in this release, external mode transport layers are associated with targets based on system target file name rather than target class. In order to support external mode, custom targets that previously inherited transport layers based on target class now must specify cm.ExtModeTransports.add lines in an sl_customization.m file on the MATLAB path, as shown above.

New and Enhanced Demos

The following demos have been added:

Demo...	Shows How You Can...
rtwdemo_lct_sampletime	Specify whether sample time is inherited from the source block, represented as a tunable parameter, or fixed
rtwdemo_lct_work	Use state arguments in registered function specifications
rtwdemo_lct_cplxgain	Specify complex numbers for input, output, and parameter arguments in function specifications.
rtwdemo_lct_ndarray	Specify multidimensional arrays for input and output arguments in function specifications.

Version 6.6.1 (R2007a+) Real-Time Workshop Software

Version 6.5 (R2006b) Real-Time Workshop Software

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