Hi 순호 권,
To implement hard constraints in Simulink for an Arduino using the Simulink Support Package, you can follow these steps:
Use Rate Transition Blocks: Ensure data consistency and timing by using Rate Transition blocks for data transfer between different rates.
Configure Solver Settings:
- Set your model to use a fixed-step solver for deterministic execution.
- Choose a step size that corresponds to your desired loop frequency (e.g., 1ms for 1kHz).
Use a Real-Time Task:
- Create a Function-Call Subsystem or a Triggered Subsystem to execute tasks at a specified rate.
- If available, use a Hardware Interrupt block to trigger execution based on external events.
Monitor Execution Time:
- Implement a mechanism to measure execution time within the loop, similar to "tic" and 'toc' in MATLAB.
- Compare execution time against your 1ms deadline, and implement logic to skip processing if the deadline is exceeded.
Generate and Deploy Code:
- Use Simulink Coder to generate optimized code for real-time performance.
- Deploy the generated code to the Arduino using the Simulink Support Package.
Example Implementation:
Create a Function-Call Subsystem:
- Use a Clock block to measure elapsed time.
- Compare elapsed time with the 1ms deadline using a Compare To Constant block.
- Use a Switch block to decide whether to process current data or skip to the next cycle.
Model Configuration:
- Set the solver to a fixed-step size of 0.001 seconds (1ms).
- Use a Timer block (if available) to ensure precise execution intervals.
Deploy to Arduino:
- Use the "Deploy to Hardware" feature to upload your model to the Arduino.
