Deploy Virtual Vehicle Composer Model to Speedgoat Real-Time Target Machine

This example uses:

Configure a copy of the Conventional Vehicle Reference Application to use Simulink® Real-Time™ and deploy the model to a Speedgoat® real-time target machine.

For Simscape™-configured vehicle models, you can simulate using Simulink Real-Time only for models with longitudinal vehicle dynamics. You cannot use Simulink Real-Time to simulate Simscape-configured vehicle models with combined longitudinal and lateral dynamics.

Build Conventional Vehicle Model

Create and open a working copy of the Conventional Vehicle Reference Application project.

autoblkConVehStart();

Extract the top-level name of the model.

modelName=bdroot;

Set System Target Files

The Virtual Vehicle Composer model uses configuration sets stored in data dictionaries. These configuration sets use the default system target file grt.tlc. Programmatically change the system target files in the configuration sets to use the Speedgoat compatible target file speedgoat.tlc.

Open the data dictionaries that contain the configuration sets.

dd1 = Simulink.data.dictionary.open('VehicleConfig.sldd');
cs1 = dd1.getSection('Configurations');


dd2 = Simulink.data.dictionary.open('VirtualDynoConfig.sldd');
cs2 = dd2.getSection('Configurations');

From the list of target files, select the Speedgoat system target file speedgoat.tlc.

Note that you must have Speedgoat I/O Blockset installed to access the speedgoat.tlc file.

To install your Speedgoat I/O Blockset, see Speedgoat - Real-Time Simulation and Testing. Follow the instructions to download and install the Speedgoat I/O Blockset.

newSystemTargetFile = 'slrealtime.tlc';

Get all the configuration set entries in the section and iterate over each configuration set to change the system target file.

entries1 = find(cs1);
entries2 = find(cs2);
allEntries = [entries1; entries2];

for i = 1:numel(allEntries)
    % Get the name of the Configuration Set
    configSetName = allEntries(i).Name;
    
    % Load the Configuration Set object
    configSetObj = getValue(allEntries(i));
    
    % Change the system target file of the Configuration Set
    set_param(configSetObj, 'SystemTargetFile', newSystemTargetFile);
    
    % Save the modified Configuration Set back to the data dictionary
    setValue(allEntries(i), configSetObj);
end

Save the changes in the data dictionaries and close the data dictionaries.

saveChanges(dd1);
saveChanges(dd2);

close(dd1);
close(dd2);

Update Code Mapping for Vehicle Models with a Battery Management System (BMS)

Update the model Code Mapping settings for code generation in the top model and all model references for vehicle models configured with a BMS. Note that for vehicles configured without a BMS, these settings are updated automatically.

modelRefs = find_mdlrefs( ...
    modelName, 'MatchFilter', @Simulink.match.allVariants);

for i = 1:length(modelRefs)

    load_system(modelRefs{i});

    codeMapping = coder.mapping.api.CodeMapping( ...
        modelRefs{i}, 'SimulinkCoderC');
    codeMapping.setDataDefault( ...
        'ExternalParameters', ...
        'StorageClass', ...
        'PageSwitching (slrealtime)');
    codeMapping.setDataDefault( ...
        'ModelParameters', 'StorageClass', 'PageSwitching');

    save_system(modelRefs{i});

end

Change Global Solver Settings

To generate code and deploy the model to the Speedgoat target, the top-level solver must be set to a fixed-step solver.

activeConfig = getActiveConfigSet(modelName);
activeConfig.SourceName = 'VehicleFixed1ms';

If you configure a Simscape vehicle model with longitudinal dynamics, turn on the local solver, set the local sample time to 1 ms, and use fixed-cost runtime consistency iterations.

variantCheck = get_param([modelName '/Vehicle'], 'VariantChoices');
isActive = strcmp(variantCheck.Name, 'ConfiguredSimscapePlantModel');

if isActive
    SimscapeBlockPath = [modelName '/Vehicle/ConfiguredSimscapePlantModel/Solver Configuration/Solver Configuration'];
    set_param(SimscapeBlockPath, 'UseLocalSolver', 'on', ...
        'LocalSolverSampleTime', '0.001', ...
        'DoFixedCost', 'on');
end

Connect to Target Machine

You must configure a link between the development computer and the Speedgoat target machine. For more information, see Set Up and Configure Simulink Real-Time (Simulink Real-Time).

After the link is configured, to run the commands to connect the development computer and target machine, select the checkbox.

if false
tg = slrealtime;
tg.connect;
end

Run Model on Target Machine

When you are ready to build the application, deploy the model to the target, and run the simulation in external mode, select the checkbox.

if false
slbuild(modelName);

load(tg, modelName);

set_param(modelName, 'SimulationMode', 'external'); 
set_param(modelName, 'SimulationCommand', 'Connect');

set_param(modelName, 'SimulationCommand', 'start');
end

Alternatively, build, deploy, and run the model on the target machine from the Simulink Real-Time tab. First, enable this tab by navigating to the Apps tab and searching for Simulink Real-Time. Next, open the app and select the Speedgoat real-time target machine from the Speedgoat Target Platform Selector. Then, click Run on Target.