Real-Time Workshop Embedded Coder

Main Program

Overview of Operation

The following pseudocode shows the execution of a Real-Time Workshop Embedded Coder main program.

• main()
  {
    Initialization (including installation of rt_OneStep as an 
      interrupt service routine for a real-time clock)
    Initialize and start timer hardware
    Enable interupts
    While(not Error) and (time < final time)
      Background task
    EndWhile
    Disable interrupts (Disable rt_OneStep from executing)
    Complete any background tasks
    Shutdown
  }
  

The pseudocode is a design for a harness program to drive your model. The ert_main.c program only partially implements this design. You must modify it according to your specifications.

Guidelines for Modifying the Main Program

This section describes the minimal modifications you should make in your production version of ert_main.c to implement your harness program.

• After calling model_initialize:
• Initialize target-specific data structures and hardware such as ADCs or DACs.
• Install rt_OneStep as a timer ISR.
• Initialize timer hardware.
• Enable timer interrupts and start the timer.

Note    rtM is not in a valid state until model_initialize has been called. Servicing of timer interrupts should not begin until model_initialize has been called.

• Optionally, insert background task calls in the main loop.
• On termination of main loop (if applicable):
• Disable timer interrupts.
• Perform target-specific cleanup such as zeroing DACs.
• Detect and handle errors. Note that even if your program is designed to run indefinitely, you may need to handle severe error conditions such as timer interrupt overruns.

• You can use the macros rtMGetErrorStatus and rtMSetErrorStatus to detect and signal errors.

Stand-Alone Program Execution

rt_OneStep