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CLA Subsystem

Group blocks to execute algorithm inside CLA

Since R2021b

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  • CLA Subsystem block

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.

    CLA-APPS

  • Go to C Code > Code Interface and click Embedded Coder Dictionary (Model).

    Code-Interface

  • 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.

    Manage packages

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)

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

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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

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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

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Parameters on the Code Generation tab require a Simulink® Coder™ or Embedded Coder® license.

Main

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'

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'

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: ''

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

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'

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, model_subsystem(), where model is the name of the model and subsystem 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 or Reusable function.

Programmatic Use

Parameter: RTWFcnNameOpts
Type: character vector
Value: 'Auto' | 'Use subsystem name' | 'User specified'
Default: 'Auto'

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: ''

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 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 Function packaging to Nonreusable function.

Programmatic Use

Parameter: RTWFileNameOpts
Type: character vector
Value: 'User specified'
Default: 'User specified'

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: ''

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:

Dependencies

  • To enable this parameter, set Function packaging to Nonreusable function.

Programmatic Use

Parameter: FunctionInterfaceSpec
Type: character vector
Value: 'void_void'
Default: 'void_void'

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'

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

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

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

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

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

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

See Also

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