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Processor-in-the-Loop Verification of MATLAB Functions

This example shows how to use Embedded Coder® Support Package for ARM Cortex-A® Processors for processor-in-the-loop (PIL) verification of MATLAB® functions on an ARM Cortex-A9 (QEMU) emulator.

Introduction

This example shows how to generate a PIL MEX function from a MATLAB function. When you run the PIL MEX function, the generated C-code from your MATLAB function runs on the ARM Cortex-A9 (QEMU) emulator, transferring the results back to MATLAB for numerical verification. Using this process, you can profile the code execution. For more information on PIL, see Code Verification Through Software-in-the-Loop and Processor-in-the-Loop Execution. For more information on the QEMU emulator, see the QEMU website.

Requirements

Create and Run PIL MEX Function

This section shows how to create a PIL MEX equivalent of a sample function to be run on the emulated hardware. Create and navigate into a new folder on a local drive. This folder stores the sample function and generated PIL code. Create a function file, simple_addition.m, containing a function that adds two inputs and returns the result. The %#codegen directive in the function indicates that the MATLAB code is intended for code generation.

function y = simple_addition(u1,u2)
%#codegen

% Copyright 2015 The MathWorks, Inc.
y = u1 + u2;

end

Create a coder configuration object by using the coder.config function. Set the properties of the cofiguration object as shown.

cfg = coder.config('lib','ecoder',true);
cfg.VerificationMode = 'PIL';
cfg.CodeExecutionProfiling = 1;
cfg.BuildConfiguration = 'Faster Runs';

Create a QEMU hardware object by using the coder.hardware function, and then attach that object to the coder configuration object. The hardware object signals the codegen function to generate a PIL executable that runs on ARM Cortex-A9 (QEMU) emulator and a PIL MEX function to run the executable on the emulator.

cfg.Hardware = coder.hardware('ARM Cortex-A9 (QEMU)');

Use the codegen function with these specified input arguments for the simple_additional function to generate a PIL MEX function named simple_addition_pil in the current folder.

codegen('-config ',cfg,...
    'simple_addition','-args',{single(zeros(1024,1)),single(zeros(1024,1))},...
    '-report');

Run the PIL MEX function to compare its behavior to that of the original MATLAB function and to check for run-time errors.

u1 = single(rand(1024,1));
u2 = single(rand(1024,1));
y_expected = simple_addition(u1,u2);
y_PIL = simple_addition_pil(u1,u2);

To verify the numerical accuracy of the generated code, use the assert function to check that the MATLAB results are equivalent to those of the PIL MEX function.

assert(norm(y_expected - y_PIL) == 0);

Profile Generated Code

To enable code execution profiling of a function, set the CodeExecutionProfiling property of the coder configuration object to true. Profiling instruments the generated code with timing information. When the PIL MEX function is cleared from memory, the profiling results get transferred to MATLAB. To accumulate profiling results, run the simple_addition function 100 times in a loop.

for k=1:100
    y = simple_addition_pil(u1,u2)
end
clear simple_addition_pil

To open the profiling report, use the getCoderExecutionProfile and report functions.

report(getCoderExecutionProfile('simple_addition'))

Use Code Replacement Library (CRL)

To take advantage of an optimized CRL for ARM Cortex-A processors, you can rebuild the PIL MEX function with the ARM Cortex-A CRL.

cfg = coder.config('lib','ecoder',true);
cfg.VerificationMode = 'PIL';
cfg.CodeExecutionProfiling = 1;
cfg.BuildConfiguration = 'Faster Runs';
cfg.CodeReplacementLibrary = 'ARM Cortex-A'; % Use CRL

Run the simple_addition function 100 times in a loop to accumulate profiling results. Then, open the profiling report.

for k=1:100
    y = simple_addition_pil(u1,u2)
end
clear simple_addition_pil
report(getCoderExecutionProfile('simple_addition'))

Compare the profiling results to those obtained from the previous section.

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