CLA Subsystem
Libraries:
C2000 Microcontroller Blockset /
C2803x
C2000 Microcontroller Blockset /
C2805x
C2000 Microcontroller Blockset /
C2806x
C2000 Microcontroller Blockset /
F28003x
C2000 Microcontroller Blockset /
F28004x
C2000 Microcontroller Blockset /
F2807x
C2000 Microcontroller Blockset /
F2837xD
C2000 Microcontroller Blockset /
F2837xS
C2000 Microcontroller Blockset /
F2838x /
C28x
C2000 Microcontroller Blockset /
F28p65x
C2000 Microcontroller Blockset /
F28p55x
Description
A CLA Subsystem block contains a subset of blocks within a model or system. CLA Subsystem is a triggered subsystem which is caused by a CLA Task block.
CLA Subsystem block can only be used along with CLA Task block.
CLA Subsystem requires you to load tic2000demospkg
package in the
model with a valid TI C2000™ based hardware board. To load the tic2000demospkg
package in the model, follow the below steps.
From Simulink toolstrip, navigate to Apps and click Embedded Coder.
Go to C Code > Code Interface and click Embedded Coder Dictionary (Model).
From the Embedded Coder Dictionary window, go to Storage Class and click Manage Packages. If you do not find the
tic2000demospkg
, click Refresh and load the package. For more information, see Data Exchange Between CLA and C28x CPU.
Note
To know more about how to use the subsystem for CLA, refer Overview of CLA Configuration for C2000 Processors Using Subsystem.
CLA Subsystem block is derived from Subsystem block with additional parameter configurations specific to CLA. It is recommended to use the options provided in this block for successful usage of CLA Subsystem.
Not all TI C2000 hardware board variants support CLA. For instance, within the TI Piccolo F2805x processor family, only the F28055 and F28053 processors support CLA, while the F28054, F28052, F28051, and F28050 processors do not.
Examples
Using the Control Law Accelerator (CLA)
Use the Control Law Accelerator (CLA) available on some of the TI® processors using C2000™ Microcontroller Blockset.
Ports
Input
In — Signal input to a subsystem
scalar | vector | matrix
Placing an Inport block in a subsystem adds an external input port to the Subsystem block. The port label matches the name of the Inport block.
Use Inport blocks to get signals from the local environment.
Data Types: single
| int8
| int16
| int32
| uint8
| uint16
| uint32
| Boolean
Output
Out — Signal output from a subsystem
scalar | vector | matrix
Placing an Outport block in a subsystem adds an output port from the Subsystem block. The port label on the Subsystem block is the name of the Outport block.
Use Outport blocks to send signals to the local environment.
Data Types: single
| int8
| int16
| int32
| uint8
| uint16
| uint32
| Boolean
Parameters
Parameters on the Code Generation tab require a Simulink® Coder™ or Embedded Coder® license.
Main
Show port labels — Display options for port labels
FromPortIcon
(default) | FromPortBlockName
| SignalName
Select how to display port labels on the Subsystem block icon.
none
Do not display port labels.
FromPortIcon
If the corresponding port icon displays a signal name, display the signal name on the Subsystem block. Otherwise, display the port block name or the port number if the block name is a default name.
FromPortBlockName
Display the name of the corresponding port block on the Subsystem block.
SignalName
If the signal connected to the port is named, display the name of the signal on the Subsystem block. Otherwise, display the name of the corresponding port block.
Programmatic Use
Parameter:
ShowPortLabels |
Type: character vector |
Value:
'FromPortIcon' |
'FromPortBlockName' |
'SignalName' |
Default:
'FromPortIcon' |
Read/Write permissions — Levels of access to contents of subsystem
ReadWrite
(default) | ReadOnly
| NoReadOrWrite
Control user access to the contents of the subsystem.
ReadWrite
Enable opening and modification of subsystem contents.
ReadOnly
Enable opening but not modification of the subsystem. If the subsystem resides in a block library, you can create and open links to the subsystem and can make and modify local copies of the subsystem but cannot change the permissions or modify the contents of the original library instance.
NoReadOrWrite
Disable opening or modification of subsystem. If the subsystem resides in a library, you can create links to the subsystem in a model but cannot open, modify, change permissions, or create local copies of the subsystem.
Note
You do not receive a response if you attempt to view the contents
of a subsystem whose Read/Write permissions
parameter is set to NoReadOrWrite
. For
example, when double-clicking such a subsystem, Simulink does not open the subsystem and does not display any
messages.
Programmatic Use
Parameter:
Permissions |
Type: character vector |
Value:
'ReadWrite' |
'ReadOnly' |
'NoReadOrWrite' |
Default:
'ReadWrite' |
Name of error callback function — Name of function to be called if error occurs
''
(default) | function name
Enter name of a function to be called if an error occurs while Simulink is executing the subsystem.
Simulink passes two arguments to the function: the handle of the subsystem and a character vector that specifies the error type. If no function is specified, Simulink displays a generic error message if executing the subsystem causes an error.
Programmatic Use
Parameter:
ErrorFcn |
Type: character vector |
Value:
'' | '<function
name>' |
Default:
'' |
Permit hierarchical resolution — Resolution for workspace variable names
All
(default) | ExplicitOnly
| None
Select whether to resolve names of workspace variables referenced by this subsystem.
For more information, see Symbol Resolution and Symbol Resolution Process.
All
Resolve all names of workspace variables used by this subsystem, including those used to specify block parameter values and Simulink data objects (for example,
Simulink.Signal
objects).ExplicitOnly
Resolve only names of workspace variables used to specify block parameter values, data store memory (where no block exists), signals, and states marked as “must resolve”.
None
Do not resolve any workspace variable names.
Programmatic Use
Parameter:
PermitHierarchicalResolution |
Type: character vector |
Value:
'All' | 'ExplicitOnly'
| 'None' |
Default:
'All' |
Code Generation
Function packaging — Code format
Nonreusable
function
(default) | Inline
Select the code format to be generated for CLA subsystem.
Note
CLA Subsystem block doesn’t support Auto
and Reusable function
code format.
Inline
Simulink Coder and Embedded Coder inline the subsystem unconditionally and entire algorithm is inlined to the CLA task (.cla) file. For more, see Method 2 - Inline Code Generation for CLA Subsystem
Nonreusable function
In this subsystem, the code for the algorithm in CLA is generated as a separate
.C
file along with data. For more, see Method 1 - Nonreusable Function Code Generation for CLA Subsystem (Recommended).Subsystems with this setting generate functions that might have arguments depending on the Function interface parameter setting. You can name the generated function and file using parameters Function name and File name (no extension). These functions are not reentrant.
Dependencies
This parameter requires Simulink Coder for code generation.
Programmatic Use
Parameter:
RTWSystemCode |
Type: character vector |
Value: |
'Inline' | 'Nonreusable
function' | |
Default:
'Nonreusable function' |
Function name options — How to name generated function
Auto
(default) | Use subsystem name
| User specified
Select how Simulink Coder names the function it generates for the subsystem.
If you have an Embedded Coder license, you can control function names with options on the Configuration Parameter Code Generation > Identifiers pane.
Auto
Assign a unique function name using the default naming convention,
, wheremodel
_subsystem
()model
is the name of the model andsubsystem
is the name of the subsystem (or that of an identical one when code is being reused).Use subsystem name
Use the subsystem name as the function name. By default, the function name uses the naming convention
.model
_subsystem
User specified
Enable the Function name field. Enter any legal C or C++ function name, which must be unique.
Dependencies
This parameter requires a Simulink Coder license.
To enable this parameter, set Function packaging to
Nonreusable function
orReusable function
.
Programmatic Use
Parameter:
RTWFcnNameOpts |
Type: character vector |
Value:
'Auto' | 'Use subsystem
name' | 'User
specified' |
Default:
'Auto' |
Function name — Name of function for subsystem code
''
(default) | function name
Specify a unique, valid C or C++ function name for subsystem code.
Use this parameter if you want to give the function a specific name instead of allowing the Simulink Coder code generator to assign its own autogenerated name or use the subsystem name.
Dependencies
This parameter requires a Simulink Coder license.
To enable this parameter, set the Function name options parameter to
User specified
.
Programmatic Use
Parameter:
RTWFcnName |
Type: character vector |
Value:
'' | '<function
name>' |
Default:
'' |
File name options — How to name generated file
User specified
(default)
Select how Simulink
Coder names the separate file for the function it generates for
the CLA subsystem. Ensure that you set the File name
options parameter to User
specified
for CLA Subsystem.
User specified
This option enables the File name (no extension) text entry field. The code generator uses the name you enter as the file name. Enter any file name, but do not include the
.c
or.cpp
(or any other) extension. This file name need not be unique.Note
While a subsystem source file name need not be unique, you must avoid giving nonunique names that result in cyclic dependencies (for example,
sys_a.h
includessys_b.h
,sys_b.h
includessys_c.h
, andsys_c.h
includessys_a.h
).
Dependencies
This parameter requires a Simulink Coder license.
To enable this parameter, set Function packaging to
Nonreusable function
.
Programmatic Use
Parameter:
RTWFileNameOpts |
Type: character vector |
Value: 'User
specified' |
Default: 'User
specified' |
File name (no extension) — Name of generated file
sample_cla
(default) | file name
The algorithm inside CLA is generated in the source file. (For example
sample_cla.c
which includes
sample_cla.h
). The file name that you specify
does not have to be unique. However, avoid giving non-unique names that
result in cyclic dependencies (for example, sys_a.h
includes sys_b.h
, sys_b.h
includes
sys_c.h
, and sys_c.h
includes
sys_a.h
).
Dependencies
This parameter requires a Simulink Coder license.
To enable this parameter, set File name options to
User specified
.
Programmatic Use
Parameter:
RTWFileName |
Type: character vector |
Value:
'' | '<file
name>' |
Default:
'' |
Function interface — Select to use arguments with generate function
void_void
(default)
Select to use arguments with generated function. Ensure that you set
the Function interface parameter to
void_void
for CLA Subsystem.
void_void
Generate a function without arguments and pass data as global variables. For example:
void subsystem_function(void)
For more information, see:
Reduce Global Variables in Nonreusable Subsystem Functions (Embedded Coder)
Generate Modular Function Code for Nonvirtual Subsystems (Embedded Coder)
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
.
Programmatic Use
Parameter:
FunctionInterfaceSpec |
Type: character vector |
Value:
'void_void' |
Default:
'void_void' |
Function with separate data — Control code generation for subsystem
on (default) | off
Generate subsystem function code in which the internal data for an atomic subsystem is separated from its parent model and is owned by the subsystem.
- off
Do not generate subsystem function code in which the internal data for an atomic subsystem is separated from its parent model and is owned by the subsystem.
- on
Generate subsystem function code in which the internal data for an atomic subsystem is separated from its parent model and is owned by the subsystem. The subsystem data structure is declared independently from the parent model data structures. A subsystem with separate data has its own block I/O and
DWork
data structure. As a result, the generated code for the subsystem is easier to trace and test. The data separation also tends to reduce the maximum size of global data structures throughout the model, because they are split into multiple data structures.Note
It is recommended that the Function with separate data parameter is set to
on
.
For details on how to generate modular function code for an atomic subsystem, see Generate Modular Function Code for Nonvirtual Subsystems (Embedded Coder).
For details on how to apply memory sections to atomic subsystems, see Override Default Memory Placement for Subsystem Functions and Data (Embedded Coder).
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
.
Programmatic Use
Parameter:
FunctionWithSeparateData |
Type: character vector |
Value:
'off' | 'on' |
Default:
'on' |
Memory section for initialize/terminate functions — Select how to apply memory sections
C28xFunction
(default)
Select how Embedded Coder applies memory sections to the subsystem initialization
and termination functions. For CLA Subsystem, select
C28xFunction
. With this selection the
initialize and terminate functions are protected with CLA complier tag
such that it is compiled only by C28x compiler.
Note
Ensure that the model is loaded with tic2000demospkg package where C28xFunction is defined.
For example, if name of the initialize function is
subsystem_initialize
then
#ifndef __TMS320C28XX_CLA__ void subsystem_initialize() { //body of the function } #endif
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
.
Programmatic Use
Parameter:
RTWMemSecFuncInitTerm |
Type: character vector |
Value:
C28xFunction |
Default:
C28xFunction |
Memory section for execution functions — Select how to apply memory sections
ClaFunction
(default)
Select how Embedded Coder applies memory sections to the subsystem execution
functions. For CLA Subsystem, select
ClaFunction
. With this selection the
execution functions are protected with CLA complier tag such that it is
compiled only by CLA compiler.
Note
Ensure that the model is loaded with tic2000demospkg package where ClaFunction is defined.
For example, if name of the execution function is
subsystem
then
#ifdef __TMS320C28XX_CLA__ void subsystem() { //body of the function } #endif
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
.
Programmatic Use
Parameter:
RTWMemSecFuncExecute |
Type: character vector |
Value:
ClaFunction |
Default:
ClaFunction |
Memory section for constants — Select how to apply memory sections
ClaDataRAM
(default)
Select how Embedded Coder applies memory sections to the subsystem constants. For
CLA Subsystem, select ClaDataRAM
. Memory
section for constants parameter allows the constants to be stored in CLA
data RAM.
Ensure that the model is loaded with tic2000demospkg package where ClaDataRAM is defined.
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
and select the Function with separate data parameter.
Programmatic Use
Parameter:
RTWMemSecDataConstants |
Type: character vector |
Value:
ClaDataRAM
|
Default:
ClaDataRAM |
Memory section for internal data — Select how to apply memory sections
ClaDataRAM
(default)
Select how Embedded Coder applies memory sections to the subsystem internal data.
For CLA Subsystem, select ClaDataRAM
. Memory
section for internal data parameter allows the internal data to be
stored in CLA data RAM.
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
and select the Function with separate data parameter.
Programmatic Use
Parameter:
RTWMemSecDataInternal |
Type: character vector |
Value:
ClaDataRAM
|
Default:
ClaDataRAM |
Memory section for parameters — Select how to apply memory sections
ClaDataRAM
(default)
Select how Embedded Coder applies memory sections to the subsystem parameters. For
CLA Subsystem, select ClaDataRAM
. Memory
section for parameters allows the parameters to be stored in CLA data
RAM
Dependencies
To enable this parameter, set Function packaging to
Nonreusable function
and select the Function with separate data parameter.
Programmatic Use
Parameter:
RTWMemSecDataParameters |
Type: character vector |
Value:
ClaDataRAM
|
Default:
ClaDataRAM |
Subsystem Reference
Subsystem file name — File name for referenced subsystem
string | character vector
Dependencies
To access this parameter, click the Convert button.
For more information on how to convert a subsystem to a referenced subsystem, see Convert Subsystem to a Referenced Subsystem.
Version History
Introduced in R2021b
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