EPOS4 Maxon Group and beaglebone programmed from Simulink

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PEDRO HENRIQUE Ulhoa 2020-12-28

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https://ww2.mathworks.cn/matlabcentral/answers/704207-epos4-maxon-group-and-beaglebone-programmed-from-simulink

评论： PEDRO HENRIQUE Ulhoa 2021-1-5

I am trying to integrate EposCommandLibrary(shared library for linux applications) from MaxonGroup with simulink environment. My main goal is to put some c++ code in s-function builder block with some functions of EPOSCommandLibrary, and then this code is going to be deployed in my beaglebone black board with Embedded Coder. But i am getting some errors because my simulink model is not recognizing EPOSCommandLibrary and its functions. When you compile from linux terminal(beaglebone) you need to use gcc main.cpp -lEposCmd. As you can see, i need this parameter in the gcc compile command. I was wondering if i can compile my c++ code in simulink with gcc and put manually this flag.

Thank you for reading this!

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Aghamarsh Varanasi 2020-12-31

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Hi,

You can add compile time flags to your build environment of Embedded Coder using the 'addCompileFlags' function.

For Example,

myModelBuildInfo = RTW.BuildInfo;
addCompileFlags(myModelBuildInfo,'-lEposCmd');

Hope this helps.

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Aghamarsh Varanasi 2021-1-5

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Hi,

You can add '.dll' files to the build environment by using the 'addNonBuildFiles' function.

Syntax:

addNonBuildFiles(buildinfo,filenames,paths,groups)

Here, groups is an optional argument.

Example:

myModelBuildInfo = RTW.BuildInfo;
addNonBuildFiles(myModelBuildInfo, ... 
   {'myutility1.dll' 'myutility2.dll'}, ...
   '/proj/dlls');

You can customise the build process by using the Build Process Customisation.

PEDRO HENRIQUE Ulhoa 2021-1-5

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i tried hat and still it's not working... The diagnostic:

"mycode.c:(.text+0x200): undefined reference to 'VCS_opendevice' "

I am using S-function to call some C files that uses EposCmd library. When i build, this "undefined reference" error appears. It's not recognizing the library.

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