The Linux Soft Real-Time Target is a target definition to Real-Time Workshop from Mathworks. The target uses the POSIX real-time clocks to generate periodic signals, to wake the model process at every time step. The process is changed to real-time highest priority defined by the scheduler, and therefore needs root privileges to execute.
The Linux Soft Real-Time Target does not run hard real-time, since the kernel of Linux itself is not preempted by the scheduler. As a consequence, model execution can occasionally be delayed.
A standard Linux kernel preempts every 10 ms. Higher resolution of the task switching, and thereby precision of the model execution, can
be achieved by setting HZ to a different value in asm/param.h, included in the kernel source, and re-compiling the kernel.
To include C S-Functions from other directories place the rtwmakecfg.m file included in this package in the directory of the C S-Function
source file. The C S-Function must be mex'ed in order for Simulink to pass the path to Real-Time Workshop. |
