xPC Target™ 4

Getting Started Guide

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xPC Target™ Getting Started Guide
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Revision History
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September 2010 Seventh printing Revised for Version 4.4 (Release 2010b)
 Contents

Introduction
1
Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Expected Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

xPC Target Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Real-Time Kernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Real-Time Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Signal Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Fixed-Point Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
MATLAB® Compiler Support . . . . . . . . . . . . . . . . . . . . . . . . 1-11
BLAS Library Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Hardware Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Host PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Target PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
Host-Target Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
I/O Driver Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

Software Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
Host-Target Communication . . . . . . . . . . . . . . . . . . . . . . . . 1-20
Rapid Prototyping Process . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
Hardware-in-the-Loop Process . . . . . . . . . . . . . . . . . . . . . . . 1-24
The xPC Target Embedded Option Product . . . . . . . . . . . . 1-24

User Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
xPC Target Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
MATLAB Command-Line Interface . . . . . . . . . . . . . . . . . . . 1-29
Simulink External Mode Interface . . . . . . . . . . . . . . . . . . . . 1-31
Simulink with xPC Target Scope Blocks . . . . . . . . . . . . . . . 1-32
Target PC Command-Line Interface . . . . . . . . . . . . . . . . . . 1-32

v
 Web Browser Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33
Custom GUI with xPC Target API for Microsoft .NET
Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33
Custom GUI with xPC Target API . . . . . . . . . . . . . . . . . . . . 1-34
Custom GUI with xPC Target COM API . . . . . . . . . . . . . . . 1-34

Installation and Configuration

2
Required Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Real-Time Workshop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
C Compiler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
xPC Target Embedded Option Product . . . . . . . . . . . . . . . . 2-6

Related Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Host PC Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Target PC Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

Installation on the Host PC . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
xPC Target Turnkey System . . . . . . . . . . . . . . . . . . . . . . . . 2-15
License Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Files on the Host PC Computer . . . . . . . . . . . . . . . . . . . . . . 2-16
Setting Your Initial Working Folder . . . . . . . . . . . . . . . . . . 2-17
Running MATLAB Remotely . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Configuring the xPC Target Host PC for Your C
Compiler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

xPC Target Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

Introducing xPC Target Explorer . . . . . . . . . . . . . . . . . . . . . 2-21
The xPC Target Product and Default Target PCs . . . . . . . . 2-23

Network Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

vi Contents
 Network Communication Overview . . . . . . . . . . . . . . . . . . 2-25
Hardware for Network Communication . . . . . . . . . . . . . . . 2-25
Ethernet Card Provided with the xPC Target Product . . . . 2-26
Ethernet Card for a PCI Bus . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Ethernet Card for an ISA Bus . . . . . . . . . . . . . . . . . . . . . . . 2-28
Environment Properties for Network Communication . . . . 2-30

Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37

Serial Communication Overview . . . . . . . . . . . . . . . . . . . . . 2-37
Hardware for Serial Communication . . . . . . . . . . . . . . . . . . 2-37
Environment Properties for Serial Communication . . . . . . 2-38

xPC Target Boot Options . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44
Booting Target PCs from CD or DVD . . . . . . . . . . . . . . . . . 2-46
Booting Target PCs from Boot Floppy Disk . . . . . . . . . . . . . 2-52
Booting Target PCs Within a Dedicated Network . . . . . . . 2-55

Testing and Troubleshooting the Installation . . . . . . . . 2-62

Testing the Installation from a Boot Disk or Boot CD . . . . 2-62
Test 1, Ping Target System Standard Ping . . . . . . . . . . . . . 2-64
Test 2, Ping Target System xPC Target Ping . . . . . . . . . . . 2-66
Test 3, Reboot Target Using Direct Call . . . . . . . . . . . . . . . 2-67
Test 4, Build and Download Application . . . . . . . . . . . . . . . 2-67
If You Need More Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-68

Exporting and Importing xPC Target Explorer

Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-69

Basic Tutorial
3
Simulink Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Creating a Simple Simulink Model . . . . . . . . . . . . . . . . . . . 3-2
Entering Parameters for the Scope Block . . . . . . . . . . . . . . 3-6
Adding a Simulink Outport Block . . . . . . . . . . . . . . . . . . . . 3-10
Entering Parameters for the Outport Blocks . . . . . . . . . . . 3-13
Adding an xPC Target Scope Block . . . . . . . . . . . . . . . . . . . 3-17
Entering Parameters for an xPC Target Scope Block . . . . . 3-21

vii
 Simulating the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
Simulating the Model with Simulink . . . . . . . . . . . . . . . . . . 3-37
Simulating the Model from MATLAB . . . . . . . . . . . . . . . . . 3-39

xPC Target Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

Booting the Target PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
Troubleshooting the Boot Process . . . . . . . . . . . . . . . . . . . . 3-44
Entering the Real-Time Workshop Parameters . . . . . . . . . 3-45
Building and Downloading the Target Application . . . . . . . 3-49
Troubleshooting the Build Process . . . . . . . . . . . . . . . . . . . . 3-51
Increasing the Time-Out Value . . . . . . . . . . . . . . . . . . . . . . 3-52
xPC Target Options Node . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53

Running the Target Application . . . . . . . . . . . . . . . . . . . . 3-54

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
Control with xPC Target Explorer . . . . . . . . . . . . . . . . . . . . 3-54
Control with MATLAB Commands . . . . . . . . . . . . . . . . . . . 3-64
Control with Simulink External Mode . . . . . . . . . . . . . . . . . 3-66

Parallel Model Reference Builds Using Remote

Workers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-68

Menu Bar and Toolbar Contents and Shortcut Keys .. 3-69

Glossary

Index

viii Contents
 1

Introduction

• “Product Overview” on page 1-2

• “Expected Background” on page 1-4
• “xPC Target Features” on page 1-5
• “Hardware Environment” on page 1-13
• “Software Environment” on page 1-20
• “User Interaction” on page 1-27
 1 Introduction

Product Overview
The xPC Target™ product is a solution for rapid control prototyping,
hardware-in-the-loop (HIL), testing, and deploying real-time systems using
standard PC hardware. It is an environment that uses a target PC, separate
from a host PC, for running real-time applications. The xPC Target software
environment includes many features to help you prototype, test, and deploy
real-time systems.

In this environment you use your desktop computer as a host PC with

MATLAB®, Simulink®, and Stateflow® (optional) software, to create a model
using Simulink blocks and Stateflow charts. After creating your model, you
can run simulations in nonreal time within the Simulink environment.

Use xPC Target software with Real-Time Workshop®, Real-Time Workshop®

Embedded Coder™ (optional), Stateflow® Coder™ (optional) software, and a
C/C++ compiler to create executable code that represents your models. The
executable code is downloaded from the host PC to the target PC running the
xPC Target real-time kernel. After downloading the executable code, you can
run and test your target application in real time. Additionally, xPC Target
software lets you add I/O blocks to your model to connect and communicate
with your hardware under test

• Hardware requirements — The xPC Target software requires a host PC,

target PC, and, for I/O, the target PC must also have I/O boards supported
by the xPC Target product. The target PC can be a desktop PC, industrial
PC, PC/104, PC/104+, or CompactPCI computer.
For a complete, fully assembled, real-time testing solution, see xPC Target
Turnkey. xPC Target Turnkey combines xPC Target software with a
variety of high-performance real-time target computers.
• Software requirements — The xPC Target software requires either a
Microsoft® Visual C/C++ compiler or an Open Watcom C/C++ compiler.
In addition, the xPC Target software requires MATLAB, Simulink, and
Real-Time Workshop software.

1-2
 Product Overview

• xPC Target Embedded Option™ requirements — The xPC Target

Embedded Option product is separate from the xPC Target product. It
requires an additional license from MathWorks. With this additional
license, you can deploy an unlimited number of real-time applications for
stand-alone operation. This option allows you to
- Create stand-alone applications for the target PC, which can boot, run,
and operate independent from the host PC.
- Deploy stand-alone GUI applications running on the host PC to control,
change parameters, and acquire signal data from a target application.
This feature uses: the xPC Target API with any programming
environment; the xPC Target COM API with any programming
environment, such as Microsoft® Visual Basic®, that can use COM
objects; the xPC Target API for Microsoft .NET Framework. Without
the xPC Target Embedded Option product, you can create, but not
deploy, stand-alone GUI applications running on a host PC that does not
contain your licensed copy of the xPC Target software, to control, change
parameters, and acquire signal data from a target application.
• Documentation and help — The xPC Target software ships with the xPC
Target Getting Started Guide. This guide and the remaining documentation
are available online through the MATLAB Help browser window, or as
PDF files that you can view online or print.

For additional information on using the xPC Target product, see the following
MathWorks Web site resources:

• MATLAB Central File Exchange for xPC Target Product.

• MathWorks Support xPC Target Web site
(http://www.mathworks.com/support/product/XP). The xPC Target
documentation is also available from this site.

1-3
 1 Introduction

Expected Background
Users who read this book should be familiar with

• Using the Simulink and Stateflow products to create models as block

diagrams, and simulating those models in Simulink
• The concepts and use of Real-Time Workshop software to generate
executable code

When using the Real-Time Workshop and xPC Target products, you do not
need to program in C or other programming languages to create, test, and
deploy real-time systems.

If you are a new user — Begin with Chapter 1, “Introduction”. This

chapter gives you an overview of the xPC Target features and xPC Target
environment. Next, read and try the examples in Chapter 3, “Basic Tutorial”.

If you are an experienced user — After you are familiar with using the xPC
Target software, read or browse the following chapters in the xPC Target
User’s Guide: “Software Environment and Demos” and “Targets and Scopes in
the MATLAB Interface” for more detailed information about the commands
in the xPC Target software.

1-4
 xPC Target™ Features

xPC Target Features

In this section...
“Real-Time Kernel” on page 1-5
“Real-Time Application” on page 1-8
“Signal Acquisition” on page 1-8
“Parameter Tuning” on page 1-9
“Fixed-Point Support” on page 1-11
“MATLAB® Compiler Support” on page 1-11
“BLAS Library Support” on page 1-11

Real-Time Kernel
The xPC Target software does not require Microsoft DOS, Microsoft
Windows®, Linux®, or any another operating system on the target PC. Instead,
you boot the target PC with boot media that includes the xPC Target kernel.

However, the xPC Target Embedded Option product requires DOS and a
DOS license at boot time. For more information, see “Embedded Option” in
the xPC Target User’s Guide.

Target Boot Options

You boot and run the target PC with one of the following boot options. These
boot options eliminate the need to install software, modify existing software
configurations, or access the hard disk on the target PC. This arrangement
allows you to use the target PC for testing real-time applications. When you
are finished with your tests, you can use the target PC again as a desktop
computer. Software is not permanently installed on the target PC unless
you deliberately install a stand-alone application on the hard disk or flash
memory.

• Removable boot devices

CD, DVD, 3.5-inch floppy disk
• Fixed boot devices

1-5
 1 Introduction

Hard drives (IDE or serial ATA (SATA)) or flash disks

• Network boot
Dedicated network

Target PC BIOS
At the beginning of the target PC boot process, the BIOS is loaded. Among
other tasks, the BIOS searches for a bootable image (executable). This
bootable image includes 16-bit and 32-bit tasks. The 16-bit task runs first
because the CPU is in real mode by default. It prepares the descriptor tables
and switches the CPU to protected mode. Next, the 32-bit task runs. It
prepares the target PC environment for running the kernel and finally starts
the real-time kernel.

You might need to enter the BIOS to customize settings for optimal real-time
behavior of the system. For example, you can suppress checking for a
keyboard or switch off any power save features. Enabled power features and
legacy USB support can generate system management interrupts (SMIs).
These features and support can also degrade real-time performance.

After loading the kernel, the target PC does not make calls to the BIOS or DOS
functions. The resources on the CPU motherboard (for example, interrupt
controller, UART, and counters) are addressed entirely through I/O addresses.

Real-Time Kernel
After the kernel starts running, it displays a welcome message with
information confirming the host-target connection. The kernel activates
the application loader and waits to download a target application from the
host PC. Upon download, the loader receives the code, copies the different
code sections to their designated addresses, and sets the target application
ready to start. You can now use xPC Target functions and other utilities to
communicate with the target application.

It is important to note that after the CPU switches to protected mode (32-bit),
none of the xPC Target components switches the CPU back to real mode
(16-bit).

1-6
 xPC Target™ Features

The generated real-time application and the real-time kernel are compiled
with a flat memory model. This provides full 32-bit power without
time-consuming 16-bit segment switching and Microsoft DOS extenders.

1-7
 1 Introduction

Real-Time Application
The Real-Time Workshop, Real-Time Workshop Embedded Coder, Stateflow
Coder, and xPC Target products, and a C compiler, create a real-time
application (target application) from a Simulink and Stateflow model. Target
applications created with the Real-Time Workshop and xPC Target software
run in real time on a standard PC using an xPC Target real-time kernel.

The target application runs in real time on the target PC and has the
following characteristics:

• Memory model — The target application is compiled as an application

with a flat memory model. This executable is then converted to an image
suitable for the xPC Target software, and it provides full 32-bit power
without time-consuming 16-bit segment switching and DOS extenders. It
also does not rely on DOS or any other Microsoft operating system.
• Task execution time — The target application is capable of high-speed,
real-time task execution. A small block diagram can run with a sample
time as fast as 20 µs (50 kHz). Model size, complexity, and target PC
hardware affect maximum speed (minimal sample time) of execution.

For more information on creating a target application, see “xPC Target

Application” on page 3-43.

Signal Acquisition
The xPC Target real-time kernel stores signal data from the target application
in RAM on the target PC. Alternatively, you can have the xPC Target
real-time kernel store signal data in a file on the target PC. In either case,
you can use this signal data to analyze and visualize signals. The xPC Target
product supports the following types of signal acquisition:

• Signal monitoring — This is the process of acquiring signal data without

time information. In this mode, you can get the current values of one or
more signals. The data is not acquired in the real-time task but in the
background task. The advantage of this process is that collecting data does
not add any computational load to running the real-time application.
For example, if you have a LED gauge in a Simulink model on the host PC,
you could use signal monitoring to display the status of the signal.

1-8
 xPC Target™ Features

• Signal logging — This is the process of acquiring signal data while a target
application is running, and then visualizing the collected data after the
target application stops running. The data is collected in the real-time task
and acquired samples are associated with a time stamp. After the run
finishes or you manually stop the run, the host PC makes a request to
upload data from the target PC. You can then visualize signals by plotting
data on the host PC, or you can save data to a disk.
• Signal tracing — This is the process of acquiring and visualizing signal
data while a target application is running. The data is collected in the
real-time task and acquired samples are associated with a time stamp. It
allows you to acquire signal data and visualize it on the target PC or to
upload the signal data and visualize it on the host PC while the target
application is running. The flexibility of this acquisition type is very similar
to the behavior of a digital oscilloscope.

For information on acquiring signal data with the xPC Target software, see
“User Interaction” on page 1-27 in the xPC Target™ Getting Started Guide on
page 1 and “Signal Monitoring with the MATLAB Interface”, “Signal Logging”
and “Signal Tracing” in the xPC Target User’s Guide documentation.

Parameter Tuning
Most Simulink blocks have parameters (such as the amplitude and frequency
of a sine wave) that you can change before or while your target application is
running:

• Interactive — The xPC Target software supports tuning of parameters

while the target application is running in real time.

Note Opening a dialog box for a source block causes Simulink to pause.
While Simulink is paused, you can edit the parameter values. You must
close the dialog box to have the changes take effect and allow Simulink
to continue.

• Scripts and batch procedures — The xPC Target software also includes
commands to change parameters during a run or between runs. By writing
a script that incrementally changes a parameter and monitors a signal

1-9
 1 Introduction

output and running it on the host PC, you can optimize the value of that
parameter.

For information on tuning parameters with the xPC Target software,

see “User Interaction” on page 1-27 and “Parameter Tuning and Inlining
Parameters” in the xPC Target User’s Guide.

1-10
 xPC Target™ Features

Fixed-Point Support
The xPC Target software supports Simulink fixed-point data. This enables
you to

• Monitor and log signals of fixed-point data types

• Tune parameters of fixed-point data types

For more information on using fixed-point data, see the “Simulink Fixed
Point”.

MATLAB Compiler Support

The xPC Target software supports the MATLAB® Compiler™. With this
capability, you can use the MATLAB Compiler to take MATLAB files as input
and generate redistributable, stand-alone applications that include xPC
Target functionality.

Stand-alone applications that include xPC Target functionality have the

following limitations:

• No MATLAB Compiler support, which results in no access to the xPC

Target library (xpclib).
• No xPC Target Explorer, or other xPC Target graphical user interface
support.
• No code generation functionality.

To use these features, create a file that uses the MATLAB Compiler
command-line interface for the xPC Target software (for example, then use
the MATLAB Compiler).

BLAS Library Support

The xPC Target software supports the Basic Linear Algebra Subprograms
(BLAS) library. This library speeds up large matrix (up to 16 x 16) operations
in target applications.

1-11
 1 Introduction

Note Your model accesses this library if you build your model with a
Microsoft Visual C/C++ compiler. If you build your model with the Open
Watcom compiler, the xPC Target software does not use the BLAS library.

1-12
 Hardware Environment

Hardware Environment
In this section...
“Introduction” on page 1-13
“Host PC” on page 1-13
“Target PC” on page 1-14
“Host-Target Connection” on page 1-15
“I/O Driver Support” on page 1-17

Introduction
The hardware environment consists of a host computer, target computer, I/O
boards in the target computer, and a serial or network connection between
the host and target computers. Knowing the different types of computers and
I/O supported by the xPC Target software will help you to set up a real-time
testing environment that meets your needs.

For a complete, fully assembled, real-time testing solution, see xPC Target
Turnkey. xPC Target Turnkey combines the xPC Target software with a
variety of high-performance real-time target computers.

Host PC
You can use any PC that runs a Windows operating system supported by
MathWorks as the host PC. It must also contain an available serial port or
Ethernet adapter. In addition, to provide a means to boot the target PC, the
host PC must have at least:

• A CD or DVD drive
• The ability to belong to a dedicated network
• A 3.5–inch floppy disk drive

For more details on the requirements of the host PC, see “Host PC
Requirements” on page 2-8.

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 1 Introduction

Target PC
The xPC Target software supports concurrent access to up to 64 target PCs
with one host. A target PC can be almost any PC compatible system with a
32-bit Intel® or AMD® processor (386 compatible or higher). It must also
contain a free serial port or an Ethernet adapter. In addition, the target PC
must contain a 3.5–inch floppy disk drive, CD or DVD drive, or have the
ability to belong to a dedicated network. Using the xPC Target Embedded
Option software, you can transfer files from the 3.5-inch disk or CD to a hard
disk or flash memory. Do not use a laptop PC as a target PC.

A target PC can be one of the following:

• Desktop PC — This computer is booted from a special target boot disk or

network boot image created by the xPC Target software.
When you boot the target PC from the target boot disk or network boot
image, the xPC Target software uses the resources on the target PC (CPU,
RAM, and serial port or network adapter) without changing the files
already stored on the hard drive.
After you are done using your desktop computer as a target PC, you can
reboot your computer without the target boot disk or network boot image
and resume normal use of your desktop computer.
• Industrial PC — This computer is booted from a special target boot disk or
network boot image, or from a hard disk or flash memory.
When using an industrial target PC, you can select PC/104, PC/104+,
CompactPCI, or single-board computer (SBC) hardware.

You do not need any special target hardware. However, the target PC must
be a fully PC-compatible system and contain a serial port or an Ethernet
controller compatible with the xPC Target software.

For more details on the requirements of the target PC, see “Target PC
Requirements” on page 2-10.

1-14
 Hardware Environment

Host-Target Connection
The xPC Target product supports two connection types and communication
protocols between the host PC and the target PC: serial and network.

Serial — The host and target computers are connected directly with a serial
cable using their RS-232 ports. This cable is wired as a null modem link that
can be up to 5 meters long and with a transfer rate between 1200 and 115200
baud. A null modem cable is provided with the xPC Target software.

Host PC RS-232 Target PC

serial connection

Serial Serial
port port

For detailed information on setting up the hardware and software for serial
communication, see “Serial Communication” on page 2-37.

Network — The host and target computers are connected through a

network. The network can be a LAN, the Internet, or a direct connection
using a crossover Ethernet cable. Both the host and target computers are
connected to the network via Ethernet adapters using the TCP/IP protocol for
communication.

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 1 Introduction

When using a network connection, the target PC can use the Ethernet adapter
card provided with the xPC Target product or one of the supported cards.
The data transfer rate can be 10 megabits/second, 100 megabits/second, or
1 gigabit/second. For a list of supported cards, see “Hardware for Network
Communication” on page 2-25.

Host PC Target PC

network network
card card

TCP/IP
network connection

For detailed information on setting up the hardware and software for network
communication, see “Network Communication” on page 2-25.

Advantages of Network Communication

A host-to-target connection using network TCP/IP communication has
advantages over serial RS-232 communication:

• Higher data throughput — Network communication using Ethernet can

transfer data up to 100 Mbit/second instead of the maximum data transfer
rate of 115 kBaud with serial communication.
• Longer distances between host and target computer — By using repeaters
and gateways you do not restrict the distance between your host and target
computers to the length of a serial cable. Communication over the Internet
is also possible.

This manual does not include information for installing network cards or
the TCP/IP protocol on your host computer. For correct installation and
setup of your network cards and the TCP/IP protocol, contact your system
administrator.

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 Hardware Environment

I/O Driver Support

The xPC Target product supports a wide range of third-party I/O boards. The
list of supported I/O boards includes ISA, PCI, PCIe, PMC, PC/104, PC/104+,
and CompactPCI hardware. The drivers are represented by Simulink blocks.
Your interaction with the I/O boards is through these Simulink blocks and the
parameter dialog boxes. MathWorks does not manufacture the boards.

Note You are responsible for taking necessary precautions and implementing
safeguards when interfacing hardware with the xPC Target product. You
are also solely responsible for the content of your models that controls such
hardware.

I/O board library — The I/O board library contains Simulink blocks for the
xPC Target product. You drag and drop blocks from the I/O library and
connect I/O drivers to your model the same way you would connect any
standard Simulink block.

I/O support — The I/O device library supports approximately 300 standard
boards. I/O boards plug into the target PC expansion bus, PC/104 stack, or
industrial PC chassis. There is also support for modules that plug into IP or
PMC carrier boards. The xPC Target block library supports the following
I/O functions:

• Analog input (A/D) and analog output (D/A) — Connect sensors and
actuators to your target application.
• Digital input and output — Connect to switches, on/off devices, and
communicate information in parallel.
• RS-232/422/485 support — Use the COM1 or COM2 ports for serial
communication with external devices. You can also access multiple RS-232,
RS-422, and RS-485 serial ports using Quatech® and Commtech devices.
See “Serial Communications Support” in the xPC Target I/O Reference.
• CAN support — You can use CAN-AC2, CAN-AC2-PCI, and CAN-AC2-104
boards from Softing® GmbH AG with xPC Target CAN blocks to interface
with a CAN field bus network. This interface provides communication
through a CAN network between target applications and remote sensors
and actuators.

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 1 Introduction

The xPC Target CAN blocks are compatible with CAN specifications 2.0A
and 2.0B and use dynamic object mode. See “CAN I/O Support” and “CAN
I/O Support for FIFO” in the xPC Target I/O Reference.
• GPIB support — Special RS-232 drivers support communication with a
GPIB control module from National Instruments® to external devices with
a GPIB connector. See “GPIB I/O Support” in the xPC Target I/O Reference.
• UDP support — Communicate with another system using the standard
UDP/IP network protocol. See “UDP I/O Support” in the xPC Target I/O
Reference.
• Counter-Timers — Use the counter-timer blocks for measuring pulse and
frequency with modulation applications.
• Watchdog — Monitor an interrupt or memory location, and reset the
computer if an application does not respond. See “Access” and “Versalogic”
in the xPC Target I/O Reference.
• Incremental encoder — Change motion into numerical information for
determining position, direction of rotation, and velocity.
• Shared memory — Use shared memory blocks with multiprocessing
applications.
• LVDT — Use the North Atlantic Industries, Inc. 73LD3, 76CL1, 76LD1,
and 76CL1 boards with xPC Target LVDT blocks to work with LVDT
applications.
• ARINC-429 — Use the Condor Engineering CEI-X20 boards with xPC
Target ARINC-429 blocks to interface with the ARINC 429 data bus.
• MIL-STD-1553 — Use the Condor Engineering PCI-1553 and QPCI-1553
series boards with xPC Target MIL-STD-1553 blocks to interface with the
MIL-STD-1553 data bus.
• Audio — Use the audio blocks to work with audio applications. See General
Standards PMC66-16AO16 and General Standards PMC-24DSI12 in the
xPC Target I/O Reference.
• Thermocouple — Use the Measurement Computing™ PCI-DAS-TC
board with xPC Target thermocouple blocks to work with thermocouple
applications.

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 Hardware Environment

For information on using specific I/O driver blocks and advanced I/O support,
see the xPC Target I/O Reference.

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 1 Introduction

Software Environment
In this section...
“Introduction” on page 1-20
“Host-Target Communication” on page 1-20
“Rapid Prototyping Process” on page 1-21
“Hardware-in-the-Loop Process” on page 1-24
“The xPC Target Embedded Option Product” on page 1-24

Introduction
The software environment is a place to design, build, and test a target
application in nonreal time and real time. It also includes communication
between the host and target computers.

Host-Target Communication
Whether using a serial connection (RS-232) or a network connection
(TCP/IP), information is exchanged between the host PC and target PC. This
information includes

• Target application — Download a target application from the host to the

target computer.
• Control — Change properties and control the target application. This
includes starting and stopping the target application, changing sample and
stop times, and getting information about the performance of the target
application and CPU.
• Signal data — Upload signal data from the target computer for analysis
after the target application is finished running, or view signal data during
the run.
• Parameter values — Download parameter values to the target computer
between runs or during a run.

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 Software Environment

Rapid Prototyping Process

You create a real-time testing environment for Simulink models by connecting
a host PC, target PC, and the hardware you want to test. You run the
following software on the host PC:

• xPC Target
• Simulink
• Real-Time Workshop
• A C compiler

And connect the host PC to the target PC via a single TCP/IP or RS-232
connection. You then:

1 Connect the target PC to the hardware you want to test.

2 Download code generated by Real-Time Workshop from a Simulink model

to the target PC via the communications connection.

Once you make the connections, you can:

• Access and interactively control the target PC and target application.

• Tune parameters before, during, and after real-time execution.
• Acquire, monitor, and log signal data.

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 1 Introduction

Note Opening a dialog box for a source block causes Simulink to pause. While
Simulink is paused, you can edit the parameter values. You must close the
dialog box to have the changes take effect and allow Simulink to continue.

The rapid prototyping process includes the following tasks:

1 Create a Simulink or Stateflow model — You create block diagrams in

Simulink using simple drag-and-drop operations, and then you enter
values for the block parameters and select sample rates. If you use
continuous-time components, you also need to select an integration
algorithm.

2 Simulate the model in nonreal time — Simulink uses a computed time

vector to step the model. After the outputs are computed for a given time
value, Simulink immediately repeats the computations for the next time
value. This process is repeated until it reaches the stop time.

Note Because this computed time vector is not connected to a hardware

clock, the outputs are calculated in nonreal time as fast as your computer
can run. The time to run a simulation can differ significantly from real
time.

3 Create an executable target application — The Real-Time Workshop,

Stateflow Coder, xPC Target products, and a C compiler, create the target
application that runs on the target PC. This real-time application uses
the initial parameters from the Simulink model that were available at
the time of code generation.

4 Install I/O boards in target PC and make connections to other hardware as

appropriate — Install and connect to the hardware against which you want
to execute and test the target application in real time.

5 Execute the target application in real time — The target PC is booted using
an xPC Target boot image that loads the xPC Target real-time kernel. After
booting the target PC, you can build and download a real-time application.

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 Software Environment

The xPC Target software uses real-time resources on the target PC

hardware. Based on your selected sample rate, the xPC Target software
uses interrupts to step the model at the selected rate. With each new
interrupt, the target application computes all the block outputs from your
model.

6 Acquire signals — Acquire signal data using xPC Target scopes.

Scopes created by xPC Target Scope blocks acquire data according to

Simulink sample time rules. This includes non-regular execution, such as if
the scope is in an enabled or triggered subsystem. Note that scopes created
dynamically (from the MATLAB Command Window or the API) sample at
the base rate, irrespective of the sample time of their signals.

You can create xPC Target scopes and acquire data from the target
application by

• xPC Target — Use the xPC Target Remote Control Tool and Scope
Manager windows to create scopes, and use the Simulink viewer to add
signals.
• MATLAB — Enter commands in the MATLAB Command Window.
• Simulink — Add xPC Target Scope blocks to your Simulink model.

Note xPC Target software does not support normal Simulink Scope
blocks in external mode. Instead, use xPC Target Scope blocks.

• Target PC — Use commands in the target PC command window.

• Simulink GUI — Add blocks to a Simulink user interface model with
xPC Target From blocks. See “Graphical User Interfaces” in the xPC
Target User’s Guide documentation for details.

7 Tune parameters — You can tune parameters by

• xPC Target GUI — Use the xPC Target Remote Control Tool and
Simulink viewer to change parameters.
• MATLAB interface — Enter commands in the MATLAB window.

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 1 Introduction

• Simulink interface —- Use your Simulink model with external mode.

• Target PC — Use commands in the target PC command window.
• Web browser — Use the xPC Target Web browser interface.
• Simulink GUI —- Add blocks to a Simulink user interface model with
xPC Target To blocks. See “Graphical User Interfaces” in the xPC Target
User’s Guide for details.

Hardware-in-the-Loop Process
Hardware-in-the-loop (HIL) simulation lets you test the implementation of
your embedded system, such as a control system, in real time using test
benches and simulations from your design phase. HIL simulation is especially
valuable when:

• The system is not yet built.

• Safety and performance concerns require testing the system prior to
human involvement.
• You need to minimize expensive downtime for the real system.
• You need to test operation and failure conditions that are difficult to
physically replicate.

Using your system-level model, which consists of the embedded control system
and the plant model, you can reuse your plant model, which executes in the
Simulink environment, and use the Real-Time Workshop software to run
these models on real-time testing equipment. By automatically generating
code from your models with the Real-Time Workshop software, you focus
on testing, not programming.

The HIL process is similar to the rapid prototyping process (“Rapid

Prototyping Process” on page 1-21).

The xPC Target Embedded Option Product

Often, control system and digital signal processing applications are developed
for use in production where a limited number of deployed systems is required.
The xPC Target Embedded Option software provides a convenient approach
that allows you to implement your system on low-cost PC hardware.

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 Software Environment

When you have completed developing and testing, you can use the target
application as a real-time system that runs on a dedicated target PC without
needing to connect to the host computer.

The xPC Target Embedded Option product has one mode of operation,
StandAlone. In this case, the target PC boots into the Microsoft DOS
environment, starts the DOS program xpcboot.com from autoexec.bat, and
then starts the kernel from xpcboot.com:

When using Boot Floppy or CD Boot, you do not need DOS environment to
load and run the xPC Target kernel. DOSLoader mode, like StandAlone mode,
boots the target PC into DOS, starts the DOS program xpcboot.com from
autoexec.bat, and then starts the kernel from xpcboot.com.

Note The xPC Target Embedded Option software is a separate product that
requires an additional license from MathWorks. With this additional license
you can deploy an unlimited number of real-time applications for stand-alone
operation.

For more information on the xPC Target Embedded Option product, see
“Embedded Option” in the xPC Target User’s Guide.

StandAlone Mode
StandAlone mode combines the target application with the kernel and boots
them together on the target PC from a hard disk drive or flash memory. The
host PC does not have to be connected to the target PC.

1 Select StandAlone mode from the Configuration node in the xPC Target
Hierarchy pane of the xPC Target Explorer tool.

2 Build a kernel/target application.

3 Copy DOS system files, utilities, kernel/application files, and helper files to
the target PC hard drive or flash memory.

4 Boot the target PC.

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 1 Introduction

When you boot the target PC, the target PC loads DOS environment, which
then calls the xPC Target autoexec.bat file to start the xPC Target kernel
(*.rtb) and associated target application. If you set up the boot device to
run the xPC Target autoexec.bat file upon startup, the target application
starts executing as soon as possible. The xPC Target application executes
entirely in protected mode using the 32-bit flat memory model.

For more information on the xPC Target Embedded Option product, see
“Embedded Option” in the xPC Target User’s Guide.

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 User Interaction

User Interaction
In this section...
“Introduction” on page 1-27
“xPC Target Explorer” on page 1-28
“MATLAB Command-Line Interface” on page 1-29
“Simulink External Mode Interface” on page 1-31
“Simulink with xPC Target Scope Blocks” on page 1-32
“Target PC Command-Line Interface” on page 1-32
“Web Browser Interface” on page 1-33
“Custom GUI with xPC Target API for Microsoft .NET Framework” on
page 1-33
“Custom GUI with xPC Target API” on page 1-34
“Custom GUI with xPC Target COM API” on page 1-34

Introduction
The xPC Target environment has a modifiable interface to the target PC.
You can use this interface from MATLAB or Simulink, and you can use
other development environments to create stand-alone client applications
independent of MATLAB. Because of this open environment, there are several
ways to interact with your target application from the host and target PCs.

Note Some blocks (see “Blocks Whose Outputs Depend on Inherited Sample
Time” in the Simulink User’s Guide) cannot properly handle sample time
changes at run-time. For models that contain these blocks, change the sample
time in the model first, then build that model. Although the xPC Target
product allows you to change sample times at run-time, changing them at
run-time for these blocks might cause incorrect results.

The following table compares the interfaces supported by the xPC Target
product.

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 1 Introduction

Environment Signal Parameter

Interface Properties Control Acquisition Tuning
“xPC Target Explorer” on X X X X
page 1-28
“MATLAB Command-Line X X X X
Interface” on page 1-29
“Simulink External Mode X X
Interface” on page 1-31
“Simulink with xPC Target X
Scope Blocks” on page 1-32
“Target PC Command-Line X X X
Interface” on page 1-32
“Web Browser Interface” on X X X
page 1-33
“Custom GUI with xPC X X X
Target API for Microsoft
.NET Framework” on page
1-33
“Custom GUI with xPC X X X
Target API” on page 1-34
“Custom GUI with xPC X X X
Target COM API” on page
1-34

xPC Target Explorer

The xPC Target software offers a graphical user interface (GUI) for configuring
the host and target PCs and interacting with a target application. To open the
xPC Target GUI, in the MATLAB Command Window, type xpcexplr.

The xPC Target Explorer is an all-in-one user interface that includes the
following functionality.

• Environment — Use the xPC Target Explorer to change properties in the

xPC Target environment.

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 User Interaction

For more information on environment properties, see

- “Serial Communication” on page 2-37 and “Network Communication”
on page 2-25
- “Working with Target PC Environments” in the xPC Target User’s Guide
- The getxpcenv function in the xPC Target User’s Guide
• Control — Use the xPC Target Explorer to download a model. After the
target application is downloaded to the target PC, you can use xPC Target
Explorer to run it. Use xPC Target Explorer to change stop time and
sample times without regenerating code, and get statistical performance
information during or after the last run.
• Signal acquisition — Use the xPC Target Explorer Model Hierarchy node
to interactively add scopes of type host, target, or file, and add or
remove signals.
For more information on using scopes with the xPC Target Explorer, see
“Signals and Parameters” in the xPC Target User’s Guide.
• Parameter tuning — Use the xPC Target Explorer Model Hierarchy node
to change tunable parameters in your target application.

For more information, see “Signals and Parameters” in the xPC Target User’s
Guide.

MATLAB Command-Line Interface

You can interact with the xPC Target environment through the MATLAB
command-line interface. Enter xPC Target functions in the MATLAB window
on the host PC. You can also write your own MATLAB scripts that use xPC
Target functions for batch processing.

The xPC Target software has more than 90 MATLAB functions for controlling
the target application from the host computer. These functions define, at the
most basic level, what you can do with the xPC Target environment.

The GUIs provided with the xPC Target product are for completing the
most common tasks. They use the xPC Target functions but do not extend
their functionality. The command-line interface provides an interactive
environment that you can extend.

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 1 Introduction

The MATLAB command-line interface includes the following functions:

• Environment — Create a boot disk or network boot image and directly

change the environment properties without using a graphical interface.
For more information on environment properties, see “Creating a 3.5-Inch
Target Boot Disk with a Command-Line Interface” on page 2-54, and
“Software Environment and Demos” in the xPC Target User’s Guide.
• Control — Reboot the target PC, download a target application, start
and stop target applications, and change start and sample times without
regenerating code. Get statistical performance information during or after
the last run. Add and remove scopes, add/remove signals to scopes, and
define triggers for scope display.
For more information, see “Control with MATLAB Commands” on page
3-64 in xPC Target™ Getting Started Guide on page 1 and “Software
Environment and Demos” in the xPC Target User’s Guide.
• Signal acquisition — Trace signals for viewing while the target application
is running and monitor signal values without time information. Transfer
logged signal data to the MATLAB workspace by uploading from the target
PC to the host PC between runs. For stand-alone target PCs, if you write
signal data to a file, use the ftp utility to transfer that file to a remote PC.
For more information, see “Signal Monitoring with the MATLAB Interface”
“Signal Tracing with the MATLAB Interface” and “Signal Logging in the
MATLAB Interface”, and “Targets and Scopes in the MATLAB Interface”
in the xPC Target User’s Guide.
• Parameter tuning — Change parameters while the target application is
running, and use xPC Target functions to change parameters in between
runs.
For more information, see “Parameter Tuning with the MATLAB Interface”
and “Targets and Scopes in the MATLAB Interface” in the xPC Target
User’s Guide.

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 User Interaction

Simulink External Mode Interface

Use Simulink in external mode to connect your Simulink block diagram to
your target application. The block diagram becomes a graphical user interface
to the target application running in real time. By changing parameters in the
Simulink blocks, you also change parameters in the target application.

The Simulink external mode interface includes the following functions:

• Control — Control is limited to connecting the Simulink block diagram to

the target application, and starting and stopping the target application.
For more information, see “Signal Tracing with Simulink External Mode”
in the xPC Target User’s Guide.
• Signal acquisition — You can use Simulink external mode to establish a
communication channel between your Simulink block diagram and your
target application. The block diagram becomes a graphical user interface to
your target application and Simulink scopes can acquire signal data from
the target application. For more information, see “Signal Tracing with
Simulink External Mode” in the xPC Target User’s Guide.
• Parameter tuning — Select external mode, and change parameters in the
target application by changing parameters in the Block Parameters dialog
boxes. Once you change a value and click OK, the new value is downloaded
to the target PC and replaces the existing parameter while the target
application continues to run. For more information, see “Parameter Tuning
with Simulink External Mode”.

Note Opening a dialog box for a source block causes Simulink to pause. While
Simulink is paused, you can edit the parameter values. You must close the
dialog box to have the changes take effect and allow Simulink to continue.

For more information, see “Parameter Tuning with Simulink External Mode”
in the xPC Target User’s Guide.

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 1 Introduction

Simulink with xPC Target Scope Blocks

An alternative to interactively adding scopes to the target PC is to add xPC
Target Scope blocks to your Simulink model. After the download process,
these blocks create scopes on the target PC during initialization of the target
application. You can choose to display data on either the host PC or target
PC. You can also choose to save signal data (log real-time data stream) to a
file in the target PC file system and transfer that file to another PC.

Signal acquisition — Add scopes to the target PC by adding xPC Target Scope
blocks to your Simulink model. In the Block Parameters dialog box, select
the scope mode and set the trigger.

For information on acquiring signal data with the xPC Target product, see
“Adding an xPC Target Scope Block” on page 3-17, “Entering Parameters for
an xPC Target Scope Block” on page 3-21, “Entering Parameters for an xPC
Target Scope of Type File” on page 3-31, and “Signal Tracing with xPC Target
Scope Blocks” in the xPC Target User’s Guide.

Target PC Command-Line Interface

You can interact with the xPC Target environment through the target PC
command window. Enter commands in the command line on the target PC.
This interface is useful with stand-alone applications that are not connected
to the host PC.

The target PC command-line interface includes the following functions:

• Control — Start and stop the target application, and change the stop time
and sample time.
For more information, see “Using the Target PC Command-Line Interface”
in the xPC Target User’s Guide.
• Signal acquisition — Acquiring signal data is limited to viewing signal
traces and signal monitoring on the target PC screen.
• Parameter tuning — You can change only scalar parameters in your model.

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 User Interaction

Web Browser Interface

If the target PC is connected to a network (TCP/IP), you can use a Web
browser to interact with the target application from any computer connected
to the network. If the target PC is connected to the host PC with an RS-232
cable, and is using the TCP/IP to RS-232 gateway, you can use a Web browser
on the host PC.

The Web browser interface includes the following functions:

• Control — Start and stop the target application, and change the stop time
and sample time.
For more information, see “xPC Target Web Browser Interface” in the xPC
Target User’s Guide.
• Signal acquisition — Signal tracing is limited to viewing a snapshot of a
screen captured from the target PC screen. Add scopes of type target, add
or remove signals, and set triggering modes. You can also monitor signal
values.
For more information, see “Signal Logging with a Web Browser” in the xPC
Target User’s Guide.
• Parameter tuning — Change parameters in an HTML form, and then
submit that form to make the changes in your target application.
For more information, see “Parameter Tuning with a Web Browser” in
the xPC Target User’s Guide.

Custom GUI with xPC Target API for Microsoft .NET

Framework
Use the .NET API xPC Target framework to develop solutions (applications,
human-machine interface (HMI) software, batch runs) that use the xPC
Target software. The xPC Target .NET object model provides objects that
you can interact with. The xPC Target software arranges the xPC Target
.NET objects in a hierarchical order. Each of these objects has methods and
properties that allow you to manipulate and interact with it. This document
presents this reference using the C# language.

For more information, see “xPC Target API for Microsoft .NET Framework”.

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 1 Introduction

Custom GUI with xPC Target API

Create a GUI application interface to a target application using any
development environment that can link in a DLL.

Use the GUI application to control the application, tune parameters, and
acquire signal data from a target application. The custom GUI runs on the
host PC and communicates with the target application on the target PC using
RS-232 or TCP/IP communication. A GUI application can be a console or
Windows application using ActiveX® components.

For more information, see the xPC Target API Guide.

Custom GUI with xPC Target COM API

Create a GUI application that interfaces with a target application using
Visual Basic® or any development environment that can incorporate COM
objects. These COM objects connect graphic elements to parameters for
parameter tuning, and they connect signals for acquiring data from your
target application. To create a custom GUI application connected to an xPC
Target application, use the following process:

1 Create a Simulink model.

2 Optionally, tag parameters and signals in the Simulink model.

3 Build the target application.

4 If you tag parameters and signals, build the model-specific COM library.

5 Create a GUI application that references the COM library.

For more information, see the xPC Target API Guide.

1-34
 2

Installation and
Configuration

The software environment for xPC Target uses two separate computers.
Because of this complexity, installation and configuration are more involved.
This chapter includes the following sections:

• “Required Products” on page 2-2

• “Related Products” on page 2-7
• “System Requirements” on page 2-8
• “Installation on the Host PC” on page 2-15
• “xPC Target Explorer” on page 2-21
• “Network Communication” on page 2-25
• “Serial Communication” on page 2-37
• “xPC Target Boot Options” on page 2-44
• “Testing and Troubleshooting the Installation” on page 2-62
• “Exporting and Importing xPC Target Explorer Environments” on page
2-69
 2 Installation and Configuration

Required Products
In this section...
“MATLAB” on page 2-2
“Simulink” on page 2-3
“Real-Time Workshop” on page 2-4
“C Compiler” on page 2-4
“xPC Target Embedded Option Product” on page 2-6

MATLAB
MATLAB provides a command-line interface for the xPC Target product.

With the xPC Target software, you have full control of the target computer
and target application using xPC Target functions and the command-line
interface or MATLAB scripts. You use the xPC Target functions for

• Real-time application control — Download, start, and stop the target

application.
• Signal acquisition and analysis — Save signal data while the target
application is running and analyze the data after the application has
completed running, or display signal data while the target application is
running in real time.
• Parameter tuning — Change parameters while the target application is
running in real time.

Note xPC Target Version 4.4 requires MATLAB Version 7.11.

• MATLAB documentation — For information on using MATLAB and its

functions, see the online MATLAB documentation.

2-2
 Required Products

Simulink
Simulink provides an environment where you model your dynamic physical
system and controller as a block diagram. You create the block diagram by
using a mouse to connect blocks and a keyboard to edit block parameters.

You can use the xPC Target product with most Simulink blocks, including
discrete-time and continuous-time systems. When you use a continuous-time
system and generate code with Real-Time Workshop, you must use a
fixed-step integration algorithm.

xPC Target I/O driver blocks — You can replace the model of your physical
system with I/O driver blocks connected to the actual physical system, or you
can replace the model of your controller with the actual controller. The xPC
Target I/O library supports more than 400 driver blocks. As additional drivers
become available, you can download updates from the MathWorks Web site at

http://www.mathworks.com/support/product/XP/productnews/
productnews.html

The I/O device drivers are written as Simulink C code S-functions.

Note xPC Target Version 4.4 requires Simulink Version 7.6.

Simulink documentation — For information on using Simulink, see the online

Simulink documentation. It explains how to connect blocks to build models
and change block parameters. It also provides a reference that describes each
block in the standard Simulink library.

2-3
 2 Installation and Configuration

Real-Time Workshop
Real-Time Workshop provides the utilities to convert your Simulink models
into C code and then, with a third-party C/C++ compiler, compile the code
into a real-time executable.

Features of Real-Time Workshop include support for multirate systems, as

well as loop-rolling and S-function inlining, which allow you to optimize your
code for size and efficiency. With the xPC Target product, you can build and
download your target application to the target computer using the build
command in Real-Time Workshop.

Note xPC Target Version 4.4 requires Real-Time Workshop Version 7.6.

Real-Time Workshop documentation — For information on code generation,

see the online Real-Time Workshop documentation.

C Compiler
The C compiler creates executable code from the C code generated from
Real-Time Workshop and the C code S-functions you create. The xPC Target
product uses this executable code to create an executable image (target
application) that runs with the xPC Target kernel on the target computer.

Note To configure your C compiler for the xPC Target software, use the xPC
Target Explorer interface (see “Configuring the xPC Target Host PC for Your
C Compiler” on page 2-19). Be aware that the mex -setup command does not
set the C compiler for the xPC Target product.

2-4
 Required Products

In addition to the MathWorks products, you need to install a C compiler. The

Real-Time Workshop and xPC Target products support the C compilers listed
here: http://www.mathworks.com/support/compilers/current_release/

2-5
 2 Installation and Configuration

xPC Target Embedded Option Product

You do not need this product for rapid prototyping, but with this additional
license, you can

• Boot the target PC and automatically launch the application.

• Deploy a stand-alone GUI application that you create with the xPC
Target C, COM, or .NET Framework API. Without the xPC Target
Embedded Option product, you can create, but not deploy, stand-alone GUI
applications running on the host PC to control, change parameters, and
acquire signal data from a target application.

The xPC Target Embedded Option product is a separate entity that requires
an additional license from MathWorks. Information about the xPC Target
Embedded Option product is included with the xPC Target documentation.

Note xPC Target Version 4.4 works with xPC Target Embedded Option
Version 4.4.

2-6
 Related Products

Related Products
MathWorks provides several products that are relevant to the kinds of tasks
you can perform with the xPC Target software.

For more information about any of these products, see either

• The online documentation for that product if it is installed on your system

• The MathWorks Web site at
http://www.mathworks.com/products/xpctarget/related.jsp.

2-7
 2 Installation and Configuration

System Requirements
In this section...
“Introduction” on page 2-8
“Host PC Requirements” on page 2-8
“Target PC Requirements” on page 2-10

Introduction
The hardware and software requirements are different for the host and target
computers.

Note that the BIOS settings of a target PC can affect how it works with
the xPC Target software. If you experience problems using the xPC Target
product with the target or host PC, you should check the system BIOS
settings on the target PC. These settings are beyond the control of the xPC
Target software. Refer to “Target PC BIOS” in the xPC Target User’s Guide
for guidelines on BIOS settings.

Host PC Requirements
The host PC is usually your desktop computer where you install the MATLAB,
Simulink, Stateflow, Stateflow Coder, Real-Time Workshop, xPC Target,
and xPC Target Embedded Option products. A notebook computer is also
a viable host PC.

Software Requirements for the Host PC

The following table lists the minimum software the xPC Target
product requires on your host PC. For a list of optional
software products related to the xPC Target product, see
http://www.mathworks.com/products/xpctarget/related.jsp.

Software Description
32-bit operating system Windows operating system version supported by
MathWorks
MATLAB Product MATLAB Version 7.11

2-8
 System Requirements

Software Description
Simulink Product Simulink Version 7.6
Real-Time Workshop Real-Time Workshop Version 7.6
Product
C language compilers http://www.mathworks.com/support/-
compilers/current_release/
xPC Target Product xPC Target Version 4.4

Hardware Requirements for the Host PC

The following table lists the minimum resources the xPC Target product
requires on the host PC.

Hardware Description
Communication Select one of the following methods to
communicate with the target PC:

• One supported Ethernet adapter connected to

a network (see “Network Communication” on
page 2-25) for supported Ethernet cards and
chip sets)
• One free serial port (COM1 or COM2) with a
9-pin or 25-pin D-sub connector (see “Serial
Communication” on page 2-37 for details)
CPU Pentium, Athlon, or later
Peripherals Hard disk drive with 60 MB of free space
One 3.5-inch floppy disk drive
One CD-RW or DVD-RW drive
RAM 128 MB or more

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 2 Installation and Configuration

Target PC Requirements
The target PC must be a 32- or 64-bit PC-compatible system. For example,
you can use a second desktop computer or an industrial system like a PC/104
or CompactPCI as the target computer.

Note For target PCs, 64-bit systems run in 32-bit mode.

Software Requirements for the Target PC

The following table lists the minimum software the xPC Target product
requires on your target PC system.

Software Description
Operating system None. The xPC Target kernel has no effect on any
operating system installed on the target PC.
BIOS PC compatible

2-10
 System Requirements

Hardware Requirements for the Target PC

The following table lists the minimum resources the xPC Target product
requires on the target PC system.

Note Do not use a laptop PC as a target PC.

Hardware Description
Chip set PC compatible with UART, programmable
interrupt controller, keyboard controller, and
counter
Communication Select one of the following methods to
communicate with the host PC:

• One supported Ethernet adapter connected to

a network (see “Network Communication” on
page 2-25 for supported Ethernet adapters).
Note, the xPC Target product includes an
approved Ethernet card for the target PC.
• One free serial port (COM1 or COM2) with a
9-pin or 25-pin D-sub connector (see “Serial
Communication” on page 2-37 for details). The
xPC Target software includes a serial null
modem cable for the target PC.
CPU Intel 386/486/Pentium or AMD K5/K6/Athlon
with or without a floating-point coprocessor
Keyboard Needed to control the target PC when you create
stand-alone applications
Note that if a keyboard is not connected, the
BIOS might display an error message (keyboard
failure). With a current BIOS, you can use the
BIOS setup to skip the keyboard test.

2-11
 2 Installation and Configuration

Hardware Description
Monitor MathWorks recommends using a monitor, but
it is not necessary. You can get all the target
information using xPC Target functions on the
host PC.
Peripheral One 3.5-inch floppy disk or CD/DVD drive. A
hard disk drive is not required unless you want to
access the target PC file system (for file scopes).
Notes:

• You can copy files to a hard disk or flash

memory and boot from that device.
• If you have a hard disk drive, and you want to
access the target PC file system on that drive,
see “Working with Target PC Files and File
Systems” in the xPC Target User’s Guide. The
xPC Target product supports file systems of
type FAT-12, FAT-16, or FAT-32.
• The hard drive must be a parallel ATA
(PATA)/Integrated Device Electronics (IDE) or
serial ATA (SATA) drive. For best performance,
configure this drive as a primary master.
• Ensure that the hard drive is not cable-selected.
RAM 8 MB or more

Random Access Memory (RAM) — The xPC Target product works with
PC-compatible computers that use inexpensive dynamic RAM, unlike many
non-PC-compatible target computers that use expensive static RAM. You
can acquire several megabytes of data during a run depending on how much
memory you install in the target PC.

2-12
 System Requirements

PC-compatible target computers — The xPC Target product supports the

following PC-compatible hardware (form factors):

• ISA
• PCI
• PMC
• PC/104 and PC/104+
• PCIe
• CompactPCI

I/O boards — You can install inexpensive I/O boards in the PCI or ISA
slots of the target PC. These boards provide a direct interface to the
sensors, actuators, or other devices for real-time control or signal processing
applications.

The xPC Target software supports the I/O functionality listed in “I/O Driver
Support” on page 1-17.

The xPC Target Software and the Target PC BIOS

The BIOS settings of a PC system can affect how the PC works with the xPC
Target software. As a general rule, ensure that the target PC BIOS has at
least the following settings:

• RS-232 communication — If you are using RS-232 communications, ensure

that COM ports are enabled for both host and target PCs. Also, ensure
through the BIOS that COM1 has a base address of 3F8 and an IRQ of 4.
COM2 must have a base address of 2F8 and an IRQ of 3. These are the
default base address values. Do not change these values.
• Plug-and-Play (PnP) operating system — Disable this feature to ensure
that the PCI BIOS sets up the plugged-in PCI cards properly. The xPC
Target kernel is not a PnP operating system; you must ensure that this
feature is disabled or PCI devices will not work on the xPC Target product.
• Power Saving modes — Disable all power saving modes.

2-13
 2 Installation and Configuration

• USB support —- Disable all USB support, including general USB and
USB keyboard support. Failure to do this will cause occasional long task
execution times (TET).
• PCI boards — Do not detect PCI boards with class code 0xff in the target
PC BIOS. Set this option to Off to enable the BIOS to detect and configure
all boards.
• Hyper-threading — If your target PC supports hyper-threading capabilities,
do not enable these capabilities. Enabling hyper-threading can degrade
the performance of the target PC.

In addition, check the boot up order for the target PC BIOS. You can boot up
the target PC using the following methods:

• Boot floppy disk

• CD/DVD bootable ROM
• Dedicated network boot

Configure your target PC BIOS to use your preferred boot order.

xPC Target Software and Multicore Support

If your target PC has a multicore processor, the xPC Target software enables
you to take advantage of the individual cores. Check the target PC BIOS to
see if it has a multicore processor.

• If the target PC has a multicore processor, you can configure the xPC
Target software to take advantage of the individual cores. See “Configuring
Environment Parameters for Target PCs” in the xPC Target User’s Guide.
To take advantage of a multicore processor, be sure to disable
hyper-threading in the target PC BIOS.
• If the target PC has only a single core processor, you cannot use the
multicore capabilities of the xPC Target software.

2-14
 Installation on the Host PC

Installation on the Host PC

In this section...
“Overview” on page 2-15
“xPC Target Turnkey System” on page 2-15
“License Requirements” on page 2-16
“Files on the Host PC Computer” on page 2-16
“Setting Your Initial Working Folder” on page 2-17
“Running MATLAB Remotely” on page 2-18
“Configuring the xPC Target Host PC for Your C Compiler” on page 2-19

Overview
You install the xPC Target software entirely on the host PC. Installing
software on the target PC is not necessary. The xPC Target software is
distributed on a DVD or as a file you download from the Web.

Note Before you start, ensure that the xPC Target and xPC Target Embedded
Option products are not already installed on your host PC. Uninstall both
before proceeding if necessary.

After you install the product, you will need to set up the xPC Target
environment for either serial or network communication. See “Serial
Communication” on page 2-37 or “Network Communication” on page 2-25.

xPC Target Turnkey System

If you have purchased an xPC Target Turnkey system, install your MATLAB
products on your system before installing xPC Target Turnkey software. See
your system user documentation for further information.

2-15
 2 Installation and Configuration

License Requirements
Before you install the xPC Target or the xPC Target Embedded Option
products, you must have a valid File Installation Key and License File.
The File Installation Key identifies the products you purchased from
MathWorks and are permitted to install and use. The License File activates
the installation.

If you have not received either of these, go to the License Center at the
MathWorks Web site.

The xPC Target family of software includes options that you can purchase and
add later to the xPC Target environment.

xPC Target Embedded Option product — With the xPC Target Embedded
Option product, you can boot the target PC from a device other than a floppy
disk or CD/DVD and deploy stand-alone target applications separate from
the host PC.

Files on the Host PC Computer

When using the xPC Target software, you might find it helpful to know where
files are located:

• MATLAB working folder — Simulink models (model.mdl), xPC Target

applications (model.dlm)
Select a working folder outside the MATLAB root. See “Setting Your Initial
Working Folder” on page 2-17.
• Real-Time Workshop Build folder — The Real-Time Workshop C code files
(model.c, model.h) are in a subfolder called modelname_xpc_rtw.

The xPC Target software uses the directories and files located in
matlabroot\toolbox\rtw\targets\xpc\

• target — Files and functions related to the xPC Target kernel and build
process, including drivers to support I/O blocks
• xpc — Host PC functions related to all of the xPC Target software, methods
for target objects, and methods for scope objects
• xpcdemos — Simulink models and MATLAB code demos

2-16
 Installation on the Host PC

Setting Your Initial Working Folder

You should set your MATLAB working folder outside the MATLAB root
folder. The default MATLAB root folder is c:\matlab.

If your MATLAB working folder is below or inside the MATLAB root, files
created by Simulink and Real-Time Workshop are mixed with the MATLAB
directories. This mixing of files could cause file management problems.

From the Desktop Icon

Your initial working folder is specified in the shortcut file you use to start
MATLAB. To change this initial folder, use the following procedure:

1 Right-click the MATLAB desktop icon or, from the program menu,
right-click the MATLAB shortcut.

2 Click Properties. In the Start in text box, enter the folder path you
want MATLAB to use initially. Make sure you choose a folder outside the
MATLAB root folder.

3 Click OK, and then start MATLAB. To check your working folder, in the
MATLAB Command Window, type

pwd

From Within MATLAB

To temporarily set your MATLAB working folder, use the following procedure:

1 In the MATLAB Command Window, type

cd c:\<MATLAB working folder>

2 To check your working folder, type

pwd or cd

To permanently set your working folder, see “From the Desktop Icon” on
page 2-17.

2-17
 2 Installation and Configuration

Running MATLAB Remotely

If you are running MATLAB remotely (accessing MATLAB over the network),
register Active X controls before you start xPC Target Explorer.

1 In the MATLAB Command Window, type

xpc_register_ocx

This function registers the Active X controllers that xPC Target Explorer
requires.

2 Close xPC Target Explorer.

3 Close MATLAB.

4 Restart MATLAB.

5 Restart xPC Target Explorer.

You are now ready to start xPC Target Explorer.

2-18
 Installation on the Host PC

Configuring the xPC Target Host PC for Your C

Compiler
To configure the host PC for your compiler, use xPC Target Explorer.

Note Do not use the mex -setup command to set the C compiler for the
xPC Target software.

1 If xPC Target Explorer is not already open, in the MATLAB Command

Window, type

xpcexplr

The xPC Target Explorer window appears.

xPC Target Explorer always has a default target PC node in its

configuration. The default target PC node is always boldfaced. In a

2-19
 2 Installation and Configuration

multitarget environment, this visual aid helps you easily identify the
default target PC.

2 In the xPC Target Explorer window, select the Compiler(s)

Configuration node.

In the right pane, the compiler parameters appear.

3 At the Select C Compiler drop-down list, select the compiler you have
installed on the host PC. The examples in this chapter use VisualC.

4 Enter the path (or browse) to the compiler for Compiler Path. For
example,

C:\Applications\Microsoft Visual Studio

5 Click Apply to apply the changes.

Note xPC Target Explorer dialogs highlight a field and enable the Revert
and Apply buttons when you make changes. To apply changes, click Apply.
A prompt is displayed if you leave a dialog without first saving changes. If
you want the original entry to be displayed, click the Revert button and
do not click the Apply button. If you click Apply, you cannot retrieve the
original entries.

2-20
 xPC Target™ Explorer

xPC Target Explorer

In this section...
“Introducing xPC Target Explorer” on page 2-21
“The xPC Target Product and Default Target PCs” on page 2-23

Introducing xPC Target Explorer

xPC Target Explorer is a graphical user interface for the xPC Target product.
It provides a single point of contact for almost all interactions. Through xPC
Target Explorer, you can perform basic operations, such as

• Configure the host PC for the xPC Target software

• Add and configure target PCs for the xPC Target software, up to 64 target
PCs
• Create boot disks for particular target PCs
• Connect the target PCs for your xPC Target system to the host PC
• Download a prebuilt target application, DLM, to a target PC
• Start and stop the application that has been downloaded to the target
• Add host, target, or file scopes to the downloaded target application
• Monitor signals
• Add signals to xPC Target scopes and remove them
• Start and stop scopes
• Adjust parameter values for the signals while the target application is
running

The xPC Target Explorer GUI runs on your xPC Target system host machine.

You can interact with xPC Target Explorer through menus or a toolbar. You
can also right-click objects and select actions from the context menu for those
objects. The tutorials in the xPC Target documentation describe procedures
using mouse operations.

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 2 Installation and Configuration

1 In the MATLAB Command Window, type

xpcexplr

The xPC Target Explorer window opens.

xPC Target Hierarchy

You can also start xPC Target Explorer from the Simulink model window
(Tools > Real-Time Workshop > xPC Target Explorer).

You can dock or undock the xPC Target Explorer window using the arrow
in the upper-right corner. Note the contents of the left pane of the xPC
Target Explorer. This is the xPC Target Hierarchy pane. If you resize or
move the window, the xPC Target software remembers the new size and
location in subsequent restarts of xPC Target Explorer.

2-22
 xPC Target™ Explorer

This pane contains all the objects in your xPC Target hierarchy. As you
add objects to your system, xPC Target Explorer adds corresponding nodes
to the xPC Target Hierarchy pane. The foremost node is the Host PC
Root node. It represents the host PC. The right pane displays information
that reflects an item selected in the left pane.

Note that, by default, xPC Target Explorer starts with two target PC
objects. The first target PC object is highlighted as the default.

Note Do not use Simulink external mode while xPC Target Explorer is
running. Use only one interface or the other.

The xPC Target Product and Default Target PCs

The following are notes on default target PCs:

• When you first start xPC Target Explorer, it has a default node, TargetPC1.
You configure this node for a target PC, then connect the node to the target
PC. If you later build a target application from a Simulink model, the xPC
Target software builds and downloads that application for the default
target PC. You can add other target PC nodes and designate one of them
as the default target PC instead of the first one. To set a target PC node
as the default, right-click that node and select Set As Default from the
context-sensitive menu. The default target PC node is always boldfaced. In
a multitarget environment, this visual aid helps you easily see the target
PC you are working with.
If you delete a default target PC node, the target PC node preceding it
becomes the default target PC node. The last target PC node is always the
default target PC node and cannot be deleted.
• If you want to use the xPC Target command-line interface to work with the
target PC, you must indicate which target PC the command is interacting
with. If you do not identify a particular target PC, the xPC Target software
expects xPC Target Explorer to contain this information.
• The xPC Target product provides a default target PC to help you work
with the MATLAB command-line interface, maintain compatibility with
previous releases, and work with Simulink external mode, as follows:

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 2 Installation and Configuration

- When you define a default target PC, the MATLAB command-line

interface works as in prior releases. For example, when you instantiate
the target object constructor xpc without any arguments (for example,
tg=xpc) the constructor uses the environment properties of the default
target PC to communicate with the appropriate target PC.
- The target PC environment object, xpctarget.targets, manages
collective and individual target PC environments. See “Working with
Target PC Environments” in the xPC Target user’s guide documentation
for details.
- The target PC commands getxpcenv and setxpcenv get and set
environment properties of the default target PC.

2-24
 Network Communication

Network Communication
In this section...
“Network Communication Overview ” on page 2-25
“Hardware for Network Communication” on page 2-25
“Ethernet Card Provided with the xPC Target Product” on page 2-26
“Ethernet Card for a PCI Bus” on page 2-27
“Ethernet Card for an ISA Bus” on page 2-28
“Environment Properties for Network Communication” on page 2-30

Network Communication Overview

This topic describes the establishment of communication between the host
PC and target PC using network communications (TCP/IP). For serial
communication, see “Serial Communication” on page 2-37.

Hardware for Network Communication

You must install the following hardware before you install the xPC Target
software and configure it for network communication:

• Network (Ethernet) adapter card — When using the product with TCP/IP,
you must have a network (Ethernet) adapter card correctly installed on
both the host PC and the target PC. Be sure to:
- Connect the host and target computers with an unshielded twisted pair
(UTP) cable to your (LAN).
- Assign a static IP address to the target PC network adapter card.
For the most current network communications requirements, see
http://www.mathworks.com/products/xpctarget/-
xPC_Target_Supported_Ethernet_Chipsets.pdf
You can also see “Ethernet Card Provided with the xPC Target Product”
on page 2-26 for information on the Ethernet card that ships with your
product.

2-25
 2 Installation and Configuration

The host PC network adapter card can have a Dynamic Host Configuration
Protocol (DHCP) address. The host PC can be any computer on the
network. When using the product with TCP/IP, you must configure the
DHCP server to reserve all static IP addresses to prevent these addresses
from being assigned to other systems.
You can also directly connect your computers. Use a crossover UTP cable
with RJ45 connectors to connect them. Both computers must have static
IP addresses. If the host PC has a second network adapter card, that card
can have a DHCP address.
• I/O boards — If you use I/O boards on your target PC, you need to install
the boards correctly.

Ethernet Card Provided with the xPC Target Product

MathWorks supplies a PCI bus Ethernet card with the xPC Target software
for you to use in a desktop target PC. The following table will help to identify
the card that was shipped with your software and the parameter you need to
select in the xPC Target Explorer. Both cards support a data transfer rate
of 100 megabits per second (Mb/s). Note that these cards are functionally
the same.

Board Identification Setup Parameter

Intel Pro/100 M Intel Pro/100 M or Desktop I82559
Adapter
Intel Pro/100 S Intel Pro/100 S or Desktop Adapter I82559

To configure xPC Target to work with the supplied card:

1 If xPC Target Explorer is not already started, in the MATLAB Command

Window, type

xpcexplr

The xPC Target Explorer window opens.

2 In the xPC Target Explorer xPC Target Hierarchy pane, select the
Communication node of the target PC for which you want to check the boot
disk. For example, select the Communication node for TargetPC1.

2-26
 Network Communication

3 From the Host target communication list, select TCP/IP.

4 From the TCP/IP target driver list, select I82559.

If you cannot use the Ethernet card provided with the xPC Target product,
you can select your own Ethernet card, see

http://www.mathworks.com/products/xpctarget/-
xPC_Target_Supported_Ethernet_Chipsets.pdf

The following are cases where you might not be able to use the Ethernet card
provided with the xPC Target product:

• You do not have an available PCI slot in your target PC.

• You do not have a PCI bus in your target PC.
• You need to use an Ethernet card other than the card provided with the
xPC Target product.

Ethernet Card for a PCI Bus

If your target PC has a PCI bus, MathWorks recommends that you use an
Ethernet card for the PCI bus. The PCI bus has a faster data transfer rate
and requires minimal effort to configure. MathWorks also supplies one PCI
bus Ethernet card with the xPC Target software for your target PC.

To install the PCI bus Ethernet card supplied with the xPC Target software,
use the following procedure:

1 Turn off your target PC.

2 If the target PC already has an unsupported Ethernet card, remove the

card.

3 Plug the Ethernet card from MathWorks into a free PCI bus slot.

4 Connect your target PC Ethernet card to your LAN using an unshielded

twisted-pair cable.

2-27
 2 Installation and Configuration

Your next task is to set up the xPC Target environment for network
communication. See “Environment Properties for Network Communication”
on page 2-30.

Ethernet Card for an ISA Bus

Your target PC might not have an available PCI bus slot, or your target PC
might not contain a PCI bus (older motherboards, passive ISA backplanes,
or PC/104 computers). In these cases, you can use an Ethernet card for an
ISA bus.

If you are using an ISA bus, you need to reserve, from the BIOS, an interrupt
for this board.

MathWorks does not provide an ISA bus board. For a list of known compatible
network adapter chip families, see

http://www.mathworks.com/products/xpctarget/-
xPC_Target_Supported_Ethernet_Chipsets.pdf

2-28
 Network Communication

To install an ISA bus Ethernet card, use the following procedure:

1 Turn off your target PC.

2 On your ISA bus card, assign an IRQ and I/O-port base address by moving
the jumpers or switches on the card. Write down these settings, because
you need to enter them in the xPC Target Explorer.

You should set the IRQ line to 11 and the I/O-port base address to around
0x300. If one of these hardware settings would lead to a conflict in your
target PC, select another IRQ or I/O-port base address.

Note If your ISA bus card does not contain jumpers to set the IRQ line and
the base address, use the utility on the installation disk supplied with your
card to manually assign the IRQ line and base address. Do not configure
the card as a PnP-ISA device.

3 If the target PC already has an unsupported Ethernet card, remove the

card. Plug the compatible network card into a free ISA bus slot.

4 Connect the target PC network card to your local area network (LAN) using
a coaxial cable or an unshielded twisted-pair cable.

If you use an Ethernet card for an ISA bus within a target PC that has a
PCI bus, you must reserve the chosen IRQ line number for the Ethernet
card in the PCI BIOS. Refer to your BIOS setup documentation to set up
the PCI BIOS.

Your next task is to set up the xPC Target environment for network
communication. See “Environment Properties for Network Communication”
on page 2-30.

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 2 Installation and Configuration

Environment Properties for Network Communication

The xPC Target environment is defined by a group of properties. These
properties give xPC Target information about the software and hardware
that it works with. You might change some of these properties often, while
others you will rarely want to change.

After you have installed the xPC Target software, you can specify the
environment properties for the host and target computers. Note that you
must specify these properties before you can build and download a target
application.

1 If xPC Target Explorer is not already started, in the MATLAB Command

Window, type

xpcexplr

The xPC Target Explorer window opens.

xPC Target Explorer associates network communication environment

properties with the target PC.

2 In the xPC Target Explorer, right-click the Host PC node.

3 Select Add Target.

A target PC node named TargetPC1 appears in the xPC Target

Hierarchy, at the same level as the Host PC node. It appears with the icon
(note the X to denote that the host PC is not connected to the target PC).

4 As necessary, repeat and for each additional target PC you want to add
to your system.

Additional target PC nodes appear in the xPC Target Hierarchy. As

you add other target PCs, the PC number is incremented. The following
figure illustrates two target PC nodes.

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 Network Communication

5 In the xPC Target Explorer, expand a target PC node.

A Configuration node appears. Under this are nodes for Communication,

Settings, and Appearance. The parameters for the target PC node are
grouped in these categories.

6 Select Communication.

The Communication Component pane appears to the right.

7 From the Host target communication list, select TcpIp.

The pane changes to one that contains only those parameters pertinent
to network communication.

8 You must enter the network properties with the correct values according
to your LAN environment. Ask your system administrator for values for
these settings.

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 2 Installation and Configuration

• Target PC IP address — This is the IP address for your target PC. An

example of an IP address is 192.168.0.10.
• LAN subnet mask address — This is the subnet mask address of your
LAN. An example of a subnet mask address is 255.255.255.0.
Alternatively, you can obtain the LAN subnet mask address from the
Network Connections dialog box on your host PC. Depending on your
Windows platform, you can access this dialog box in a number of ways.
For example, on a Windows XP Professional system, you can use this
sequence:
1 Select Start > Settings > Control Panel, then double-click
Network Connections.
2 Right-click Local Area Connection, then select Properties.
3 Select Internet Protocol (TCP/IP), then click Properties.
If your computers connect with a crossover cable, you might have a
dialog box like the following. You can obtain your subnet mask address
and TCP/IP gateway address from this dialog box.

Note The TCP/IP address is for your host PC, not your target PC. You
still need to get the target PC TCP/IP address for your target PC from
your system administrator.

The default gateway address is blank in this dialog box. However, in the
xPC Target Explorer, you must enter 255.255.255.255 for the gateway
value in the TCP/IP gateway address property.

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 Network Communication

Host PC TCP/IP address

LAN subnet mask address

9 Optionally, enter the following properties, depending on your specific

circumstances:

• TCP/IP target port — This property is set by default to 22222. This

value should not cause any problems, because this number is higher
than the reserved area (telnet, ftp, ...) and it is only relevant on the
target PC. If necessary, you can change this property value to any value
higher than 20000 and less than 65536.
• TCP/IP gateway address — This property is set by default to
255.255.255.255. This means that you do not use a gateway to connect

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 2 Installation and Configuration

to your target PC. If you connect your computers with a crossover cable,
leave this property as 255.255.255.255.
If you communicate with the target PC from within your LAN, you might
not need to define a gateway and change this setting.
If you communicate from a host PC located in a LAN different from your
target PC, you need to define a gateway and enter its IP address. This is
especially true if you want to work over the Internet. Ask your system
administrator for the IP address of the appropriate gateway.

10 Enter the following properties specific to the Ethernet card on your target
PC:

• TCP/IP target driver — From the list, select NE2000, SMC91C9X,

I82559, RTLANCE, R8139, 3C90x, NS83815, or I8254x. This property is set
by default to NE2000. For a crossover cable connection, select I82559.
•

Note To allow the software to determine your TCP/IP target driver,

select Auto. If not supported Ethernet card exists in your target PC, the
software returns an error.

TCP/IP target bus type — This property is set by default to PCI. If

TCP/IP target bus type is set to PCI, then the properties TCP/IP
target ISA memory port and TCP/IP target ISA IRQ number have
no effect on TCP/IP communication and are disabled (grayed out). If you
are using an ISA bus Ethernet card, set TCP/IP target bus type to ISA
and enter values for TCP/IP ISA memory port and TCP/IP target
ISA IRQ number.
• TCP/IP target ISA memory port and TCP/IP target ISA IRQ
number — If you are using an ISA bus Ethernet card, you must enter
values for the properties TCP/IP target ISA memory port and
TCP/IP target ISA IRQ number. The values of these properties must
correspond to the jumper settings or ROM settings on your ISA bus
Ethernet card.

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 Network Communication

11 If the target PC has multiple Ethernet cards, type the following command
to specify which card to use:

setxpcenv(`EthernetIndex', '#')

# indicates a single digit to specify the index number for the Ethernet card.

This command ensures that upon booting the target, the kernel selects
the appropriate Ethernet card instead of selecting the default card with
index number 0 as the target PC card.

For example, setxpcenv('EthernetIndex','2') selects the Ethernet card

with index number 2 as the target PC card.

12 Repeat step 5 to 10 for any target PC for which you have a network
connection between the host PC and target PC.

The xPC Target software updates the environment with new properties as
you enter them.

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 2 Installation and Configuration

The following figure illustrates the Communication Component pane

for a network connection.

For more information on the xPC Target environment, see “Software

Environment and Demos” in the xPC Target User’s Guide.

Your next task is to create a target boot disk. See “Booting Target PCs from
Boot Floppy Disk” on page 2-52.

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 Serial Communication

Serial Communication
In this section...
“Serial Communication Overview” on page 2-37
“Hardware for Serial Communication” on page 2-37
“Environment Properties for Serial Communication” on page 2-38

Serial Communication Overview

This topic describes the establishment of communication between the host
PC and target PC using serial communications (RS-232). For network
communication, see “Network Communication” on page 2-25.

Hardware for Serial Communication

Before you install the xPC Target software and configure it for serial
communication, you must install the following hardware:

• Null modem cable — Connect the host and target computers with the null
modem cable supplied by MathWorks with the xPC Target software. You
can use either the COM1 or COM2 port.
• I/O boards — If you use I/O boards on the target PC, you need to install
the boards correctly. See the manufacturer’s literature for installation
instructions.

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 2 Installation and Configuration

Null Modem Cable Wiring

xPC Target software ships with a null modem cable that you can use to connect
the host and target computers for serial communications. The following
diagram illustrates the wiring for this cable for a 9-pin DB9 connector.

1 5
6 9
2 4
7 8
3 3
8 7
4 2
9 6
5 1

DB9 Female DB9 Female

Environment Properties for Serial Communication

The xPC Target environment is defined by a group of properties. These
properties give to the xPC Target software information about the software
and hardware products that it works with. You might change some of these
properties often, while others you will rarely want to change.

After you have installed the xPC Target product, you can specify the
environment properties for the host and target computers. Note that you
must specify these properties before you can build and download a target
application.

The following procedure describes how to set up serial communication

environment properties through the xPC Target Explorer.

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 Serial Communication

Note the following:

• If you have a serial connection between your host PC and target PC, and
you use a baud rate that is less than the maximum possible baud rate,
you might experience communication failures. If you do experience these
failures, use a baud rate greater than 19200.
• If you have an RS-232 connection, you might not want to use host scopes
and a scope viewer on the host PC (Host Scope Viewer) to acquire and
display large blocks of data. The slowness of the RS-232 connection causes
large delays in performance for large blocks of data.

1 If xPC Target Explorer is not already started, in the MATLAB Command

Window, type

xpcexplr

The xPC Target Explorer window opens. Note that xPC Target Explorer
automatically provides a default target PC node, TargetPC1.

xPC Target Explorer associates serial communication environment

properties with the target PC.

2 In the xPC Target Explorer, right-click the Host PC node.

3 Select Add Target.

A target PC node, named TargetPC2, appears in the xPC Target

Hierarchy, at the same level as the Host PC node. It appears with the icon
(note the X to denote that the host PC is not connected to the target PC).

4 As necessary, repeat step 2 and step 3 for each additional target PC you
want to add to your system.

Additional target PC nodes appear in the xPC Target Hierarchy. As

you add other target PCs, the PC number is incremented. The following
figure illustrates two target PC nodes.

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 2 Installation and Configuration

5 In the xPC Target Explorer, expand a target PC node.

Configuration, File System, and PCI Devices nodes appear. You work
with the Configuration node to configure the target PC node for a target
PC. The File System node contains the contents of a target PC file system.
PCI Devices lists all PCI devices detected on the target PC. In this
procedure, you work with the Configuration node.

Under the Configuration node are nodes for Communication, Settings,

and Appearance. The parameters for the target PC node are grouped in
these categories. These nodes make up the target environment settings.

6 Select Communication.

The Communication Component pane appears to the right.

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 Serial Communication

Note When you first select a subnode under a target PC node, the target
PC node becomes boldfaced. In a multitarget environment, this visual aid
helps you easily see the target PC you are working with.

7 From the Host target communication list, select RS232.

The pane changes to one that contains only those parameters pertinent to
serial communication.

8 From the Host port list, select either COM1 or COM2 for the connection on
the host PC. The xPC Target software determines the COM port you use on
the target PC automatically.

9 From the Baud rate list, select the baud rate for the serial connection
between the host PC and this target PC. The default is 115200. Note that
for optimal performance, you should select the highest possible serial
connection baud rate for the xPC Target software.

10 Repeat step 5 to step 9 for any target PC for which you have a serial
connection between the host PC and target PC.

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 2 Installation and Configuration

The following figure illustrates the xPC Target Explorer settings for the
serial connection of one target PC.

You do not have to exit and restart MATLAB after making changes to the
xPC Target environment, even if you change the communication between the
host and target from RS-232 to TCP/IP. However, you do have to recreate the
target boot disk and rebuild the target application from the Simulink model.

For more information on the xPC Target environment, see “Software

Environment and Demos” in the xPC Target User’s Guide.

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 Serial Communication

Your next task is to create a target boot disk. See “Booting Target PCs from
Boot Floppy Disk” on page 2-52.

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 2 Installation and Configuration

xPC Target Boot Options

In this section...
“Introduction” on page 2-44
“Booting Target PCs from CD or DVD” on page 2-46
“Booting Target PCs from Boot Floppy Disk” on page 2-52
“Booting Target PCs Within a Dedicated Network” on page 2-55

Introduction
You can boot your target PC with the xPC Target kernel using one of the
following ways from the xPC Target Explorer:

• CD Boot — Boot the target PC with a CD/DVD bootable ROM

• Boot Floppy — Boot the target PC with a 3.5-inch floppy.
• Network Boot — Boot the target PC from a dedicated network boot image.

Target boot disks and boot images include the xPC Target kernel specific
for either serial or network communication. If you installed the xPC Target
Embedded Option, and you select stand-alone mode, the target boot files
include the target application (see “Embedded Option” in the xPC Target
User’s Guide). If you want to boot from a device other than a CD, DVD,
3.5-inch disk, or dedicated network boot image, see “Booting from a DOS
Device” in the xPC Target User’s Guide.

Note Before you create a target boot disk, ensure that you have write
permission for your current working folder. You cannot create a boot disk
otherwise.

xPC Target Turnkey

xPC Target Turnkey systems have necessary software preinstalled. See your
xPC Target Turnkey system user documentation for further information.

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 xPC Target™ Boot Options

Before You Boot

Ensure that you have appropriately configured your xPC Target system
before you create your boot disk or boot image. At a minimum, ensure that
you have performed the following configurations. You can optionally set the
other xPC Target Explorer configuration options; however, their default
values should suffice.

• Confirm that the boot tab on the Configuration pane is set to your desired
boot mode:
- CD Boot
- Boot Floppy
- Network Boot
For information on other boot modes, see the following topics in the xPC
Target User’s Guide:
- “Booting from a DOS Device”, for DOSLoader mode
- “Embedded Option”, for StandAlone mode
• Check the C compiler specification (see “Configuring the xPC Target Host
PC for Your C Compiler” on page 2-19).
• If you are using TCP/IP communication, check that your network
connections are correct. Also check the xPC Target Explorer settings (see
“Network Communication” on page 2-25). Your xPC Target system shipped
with a supported Ethernet card.
• If you are using serial communication, check that your physical connections
are correct. Also check the xPC Target Explorer settings (see “Serial
Communication” on page 2-37).
• Check your target PC BIOS settings (see “The xPC Target Software and
the Target PC BIOS” on page 2-13 in this chapter and “BIOS Settings”).

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 2 Installation and Configuration

Booting Target PCs from CD or DVD

• “Creating a Boot CD/DVD with xPC Target Explorer” on page 2-46
• “Creating a Boot CD/DVD with a Command-Line Interface” on page 2-49

You use the target boot CD or DVD to load and run the xPC Target kernel.
After you make changes to the xPC Target environment properties, you must
create a target boot CD or DVD. This topic assumes you are using default
environment parameter settings for the boot CD or DVD creation. If this is
not the case, see “Configuring Environment Parameters for Target PCs” in
the xPC Target User’s Guide for further details.

Creating a Boot CD/DVD with xPC Target Explorer

Use the following procedure to create a boot CD or DVD for the current xPC
Target environment. This procedure describes how to create a target boot CD
for the target TargetPC1. Before you start:

• Ensure that you have an empty, writable CD or DVD.

• Ensure that you have a CD/DVD-RW drive.
• Ensure that you can create a boot CD or DVD. You can create a boot CD or
DVD in one of the following ways:
- The xPC Target Explorer Create CD Boot Image can create a boot CD
or DVD for you. To use this capability, your host PC must have one of
the following Windows systems:
• Microsoft Windows Vista™
• Microsoft Windows XP Service Pack 2 or 3 with
Image Mastering API v2.0 (IMAPIv2.0), available at
http://support.microsoft.com/kb/KB932716.
- You can use third-party CD/DVD writing software to write ISO image
files. Use this method if you do not have Microsoft Windows Vista or
Microsoft Windows XP Service Pack 2 or 3.

Note Standard Microsoft Windows software (such as Windows Explorer

or Windows Media Player) does not write ISO image files to CD/DVD.

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 xPC Target™ Boot Options

Warning Writing the CD ISO image to a CD or DVD is not the same

as copying the ISO image to a CD or DVD. When you write an ISO
image to a CD or DVD, you create a bootable CD or DVD from the ISO
image by burning the image to the CD or DVD. When you copy the
ISO image, you just copy the ISO image to the CD or DVD as data; you
cannot use a copied CD or DVD as a boot disk.

1 Insert the empty CD or DVD in the host PC.

2 If the xPC Target Explorer is not open, open it now. At the MATLAB
Command Window, type

xpcexplr

3 In the xPC Target Explorer xPC Target Hierarchy pane, select a target
PC Configuration node. For example, select the Configuration node
for TargetPC1.

A TargetPC1 Configuration pane appears in the rightmost pane. This

pane contains a series of tabs.

4 Select the CD Boot tab.

5 In the location parameter, enter a path in which you want xPC Target
Explorer to write the xPC Target CD/DVD boot ISO image. For example,
enter C:\Work\matlab.

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 2 Installation and Configuration

6 Click the Apply button.

7 Click the Create CD Boot Image button.

The software creates a CD/DVD image file named cdboot.iso in this

location.

8 Perform one of the following depending on your software:

• If you have Microsoft Windows Vista or Microsoft Windows XP Service

Pack 2 or 3 with Image Mastering API v2.0 (IMAPIv2.0), xPC Target
Explorer prompts you to insert a CD/DVD.

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 xPC Target™ Boot Options

Select the appropriate drive, insert the CD or DVD, then click Burn
Disk.
• If you do not have Microsoft Windows Vista or Microsoft Windows XP
Service Pack 2 or 3 with Image Mastering API v2.0 (IMAPIv2.0), use
your third-party CD creation software to write the cdboot.iso image to
the empty CD/DVD.

9 Insert the bootable CD/DVD into your target PC CD/DVD drive and reboot
that PC.

Your next task is to install the software on the target PC and test your
installation. See “Testing and Troubleshooting the Installation” on page 2-62.

Creating a Boot CD/DVD with a Command-Line Interface

You use the boot CD/DVD to load and run the xPC Target kernel. After you
make changes to the xPC Target environment properties, you must create a
CD/DVD bootable ROM. Before you start:

• Ensure that you have an empty, writable CD or DVD.

• Ensure that you have a CD/DVD-RW drive.
• Ensure that you can create a bootable CD or DVD. You can create a boot
CD or DVD in one of the following ways:
- The xPC Target software can create a boot CD or DVD for you. To use
this capability, your host PC must have one of the following Windows
systems:

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 2 Installation and Configuration

• Microsoft Windows Vista

• Microsoft Windows XP Service Pack 2 or 3 with
Image Mastering API v2.0 (IMAPIv2.0), available at
http://support.microsoft.com/kb/KB932716.
- Third-party CD/DVD writing software can write ISO image files for you.
Use this method if you do not have Microsoft Windows Vista or Microsoft
Windows XP Service Pack 2 or 3.

Note Standard Microsoft Windows software (such as Windows Explorer

or Windows Media Player) does not write ISO image files to CD/DVD.

To create a boot CD/DVD for the current xPC Target environment:

1 Insert the empty CD or DVD in the host PC.

2 In the MATLAB Command Window, type

getxpcenv

3 Ensure that the following xPC Target properties are set as follows:

• TargetBoot — CDBoot
• CDBootImageLocation — Your host PC CD/DVD disk drive location

4 If these properties are not set with the correct values, use the setxpcenv
function to set them. For example:

setxpcenv('TargetBoot','CDBoot')
setxpcenv(CDBootImageLocation,'c:\work\xpc\cdimage')
updatexpcenv

5 In the MATLAB Command Window, type

xpcbootdisk

The xPC Target software displays the following message and creates the
CD/DVD boot ISO image.

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 xPC Target™ Boot Options

Current boot mode: CDBoot

CD boot image is successfully created

6 Perform one of the following, depending on your software:

• If you have Microsoft Windows Vista or Microsoft Windows XP Service

Pack 2 or 3 with Image Mastering API v2.0 (IMAPIv2.0), xpcbootdisk
prompts you to insert a CD/DVD.

Insert an empty CD/DVD. Available drives:

[1] z:\
[0] Cancel Burn

Select the appropriate drive, insert the CD or DVD, then press the
Enter key.
• If you do not have Microsoft Windows Vista or Microsoft Windows XP
Service Pack 2 or 3 with Image Mastering API v2.0 (IMAPIv2.0), use
your third-party software to write the cdboot.iso image to the empty
CD/DVD.

7 When the CD/DVD drive stops, remove the CD/DVD.

8 Insert the bootable CD/DVD into your target PC CD/DVD drive and reboot
that PC.

Your next task is to install the software on the target PC and test your
installation. See “Testing and Troubleshooting the Installation” on page 2-62.

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 2 Installation and Configuration

Booting Target PCs from Boot Floppy Disk

You use the 3.5-inch target boot disk to load and run the xPC Target kernel.
After you make changes to the xPC Target environment properties, you need
to create or update a 3.5-inch boot disk. Note that this topic assumes you
are using default environment parameter settings for the target boot disk
creation. If this is not the case, see “Configuring Environment Parameters for
Target PCs” in the xPC Target User’s Guide for further details.

Creating a Target Boot Disk with xPC Target Explorer

To create a target boot disk for the current xPC Target environment, use the
following procedure. This procedure describes how to create a target boot disk
for the target TargetPC2. Alternatively, see “Creating a 3.5-Inch Target Boot
Disk with a Command-Line Interface” on page 2-54.

1 If the xPC Target Explorer is not open, open it now. At the MATLAB
Command Window, type

xpcexplr

2 In the xPC Target Explorer xPC Target Hierarchy pane, select a target
PC Configuration node. For example, select the Configuration node
for TargetPC2.

A configuration pane for that target PC appears in the rightmost pane.

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 xPC Target™ Boot Options

3 From the tab list, select the Boot Floppy tab.

4 As necessary, change the drive letter of the 3.5-inch drive to a valid floppy
drive. It is a: by default.

5 Click the Apply button.

6 Click the Create boot disk button.

The following message box opens.

7 Insert a formatted 3.5-inch floppy disk into the host PC disk drive, and
then click OK.

All data on the disk is erased as the xPC Target software writes the xPC
Target kernel and other required files to the 3.5-inch disk.

The xPC Target software displays the following dialog box while creating
the boot disk. The process takes about 1 to 2 minutes.

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 2 Installation and Configuration

8 When the disk drive stops, remove the disk.

9 Insert the boot disk into your target PC disk drive and reboot that PC.

Your next task is to install the software on the target PC and test your
installation. See “Testing and Troubleshooting the Installation” on page 2-62.

Creating a 3.5-Inch Target Boot Disk with a Command-Line

Interface
You use the target boot disk to load and run the xPC Target kernel. After you
make changes to the xPC Target environment properties, you need to create
or update a boot disk.

To create a target boot disk for the current xPC Target environment, use the
following procedure:

1 In the MATLAB Command Window, type

getxpcenv

2 Ensure that the following xPC Target properties are set as follows:

• TargetBoot — BootFloppy
• BootFloppyLocation — Your host PC 3.5-inch disk drive location

3 If these properties are not set with the correct values, use the setxpcenv
function to set them. For example:

setxpcenv('TargetBoot','BootFloppy')
setxpcenv('BootFloppyLocation','a:')
updatexpcenv

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 xPC Target™ Boot Options

4 In the MATLAB Command Window, type

xpcbootdisk

The xPC Target software displays the following message.

Current boot mode: BootFloppy

Insert a formatted floppy disk into your host PC's
disk drive and press a key to continue

5 Insert a formatted floppy disk into the host PC disk drive, and then press
any key.

The write procedure starts and, while creating the boot disk, the MATLAB
Command Window displays the following status information.

Creating xPC Target boot disk ... Please wait

xPC Target boot disk successfully created.

Your next task is to install the software on the target PC and test your
installation. See “Testing and Troubleshooting the Installation” on page 2-62.

Booting Target PCs Within a Dedicated Network

This topic describes how to boot target PCs on a dedicated network. You do
not need a boot disk. You do need to set up the host PC and target PC. This
topic assumes that you know how to:

• Set up a dedicated network.

• Use the xPC Target Explorer to configure the target PC and host
environments. You should be familiar with the following sections:
- “Configuring the xPC Target Host PC for Your C Compiler” on page 2-19
- “xPC Target Explorer” on page 2-21
- “Network Communication” on page 2-25
- “Booting Target PCs from Boot Floppy Disk” on page 2-52

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 2 Installation and Configuration

Caution Do not boot a target PC on a corporate or nondedicated network.

Doing so might interfere with dynamic host configuration protocol (DHCP)
servers, which will cause problems with the network.

Setting Up the Target PC

1 Identify the target PC that you want to boot over the dedicated network.

2 Perform one of the following for your target PC:

• Install the Ethernet card supplied with the xPC Target product.
• Use your own Ethernet card. If you choose this, ensure that:
– The xPC Target product supports your Ethernet card (see “Hardware
for Network Communication” on page 2-25).
– Your Ethernet card must have a boot ROM that is compatible with
the Preboot eXecution Environment (PXE) specification.

3 Connect the host PC and the target PCs within the dedicated network. For
example, connect one end of a crossover cable to the dedicated network card
of the host PC and connect the other end of this cable to the dedicated
network card of the target PC.

4 Turn on the target PC.

5 Enter BIOS and set up the target PC for a LAN or network boot. If there
is a boot order, consider setting the boot order so that the removable/boot
floppy disk is the first option and the LAN is the second. Doing so ensures
that if there is no xPC Target boot disk in the target PC, you can still boot
the target PC from a kernel on the network.

Configuring for Network Booting

This procedure is similar to configuring a target boot disk. If you have
previously created a target boot disk, you might not need to perform this
procedure. However, you should still read the following instructions to ensure
that your configuration is appropriate for booting a target PC in the dedicated
network. You can configure multiple target PCs for your network.

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 xPC Target™ Boot Options

1 Ensure that the host PC has a network card available for the dedicated
network. As necessary, insert a second network card and configure that
card for the dedicated network. This step includes assigning the host PC
a unique IP address (for example, 10.10.10.10) in the same subnet as the
target PC.

2 If the xPC Target Explorer is not open, open it now. At the MATLAB
Command Window, type

xpcexplr

3 Add a target PC, for example, TargetPC3 (if necessary).

4 In the Communication Component pane for TargetPC3,

a In the Host target communication field, select TCP/IP.

b Enter a target PC IP address in the dedicated network, for example,

10.10.10.11. Ensure that the subnet of this IP address is the same as
the host PC, otherwise Network Boot will fail.
c Enter appropriate values for the remaining fields.

d Click the Apply button.

5 In the TargetPC3 Configuration pane, select Network Boot.

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 2 Installation and Configuration

The Target PC Ethernet Configuration section of the configuration

pane allows you to either associate a physical target PC MAC address
with the xPC Target Explorer target PC name, or allow the software to
automatically find target PC MAC addresses. If you want to associate your
physical target PC MAC address,
a Click Manual.

b In the six fields, enter the physical target PC MAC address (in
hexadecimal).

6 Click the Create Network Boot Image button.

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 xPC Target™ Boot Options

The software creates and starts a network boot server process on the host
PC. You will boot the target PC using this process.

A minimized icon ( ) representing the network boot server process

appears on the bottom right host PC system tray.

Booting the Target PC

1 Reboot the target PC.

The host PC network boot server displays a pop-up from the system tray
indicating that the boot server is being downloaded to the target PC.

If the xPC Target Explorer target PC is not already associated with a

physical target PC MAC address, the first time that the network boot
server process detects a viable target PC, it displays a dialog that contains
the xPC Target Explorer target PC names and the IP addresses for those
names. From this list, select the physical target PC you want to associate
with the target PC name.

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 2 Installation and Configuration

2 Select the target PC name with which you want to associate the physical
target PC.

The target PC receives the xPC Target kernel and boots with this kernel.

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 xPC Target™ Boot Options

If you click the Cancel button instead of selecting a target PC name, the
next time you try to boot the target PC across the network, the kernel will
ignore the target PC boot request for 90 seconds.

Note the following behavior:

• If the target PC name has a MAC address, and there is a physical target
PC whose MAC address matches the target PC name MAC address, the
software matches the two and the xPC Target Network Boot dialog
does not display.
• If the connection between the target PC and host PC is an RS-232 one, you
cannot boot the target PC across the network.
• If the StandAlone mode is enabled, you cannot boot the target PC across
the network.

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 2 Installation and Configuration

Testing and Troubleshooting the Installation

In this section...
“Testing the Installation from a Boot Disk or Boot CD” on page 2-62
“Test 1, Ping Target System Standard Ping” on page 2-64
“Test 2, Ping Target System xPC Target Ping” on page 2-66
“Test 3, Reboot Target Using Direct Call” on page 2-67
“Test 4, Build and Download Application” on page 2-67
“If You Need More Help” on page 2-68

Testing the Installation from a Boot Disk or Boot CD

This topic describes how to install software on a target PC, boot that PC,
and test the installation and connection between the host PC and the
target PC. The xPC Target software uses a test script to test the entire
installation. After you install the software, set the environment settings,
and create a target boot disk, you can test your installation. This procedure
assumes that you have set environment settings with xPC Target Explorer.
See “Environment Properties for Serial Communication” on page 2-38 or
“Environment Properties for Network Communication” on page 2-30.

1 Insert your target boot disk into a target PC disk drive or CD drive. This
target boot disk contains the software to run a target PC.

2 To reboot the target PC, press the reset button on the PC.

After loading the BIOS, the software boots the kernel and displays the
following on the target PC monitor.

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 Testing and Troubleshooting the Installation

If you have a keyboard attached to the target PC, you can activate that
keyboard by typing C, and press the Page Up and Page Down keys to
page up and down the target PC monitor.

3 In the MATLAB Current Folder window, select a folder outside the

MATLAB root folder.

Note During the build process, Real-Time Workshop does not allow files
to be saved within the MATLAB tree root. If you select a current folder
within the MATLAB tree, the xPC Target test procedure fails when trying
to build a target application.

4 In the MATLAB Command Window, type

xpctest

MATLAB runs the test script for the default target PC and displays
messages indicating the success or failure of a test. If you use RS-232
communication, the first test is skipped.

### xPC Target Test Suite 4.4

### Host-Target interface is: RS232 on COM1
### Test 1, Ping target system using system ping: ... SKIPPED
### Test 2, Ping target system using xpctargetping: ... OK
### Test 3, Software reboot the target PC: ..... OK
### Test 4, Build and download an xPC Target application using model xpcosc: ... OK
### Test 5, Check host-target command communications: ... OK
### Test 6, Download a pre-built xPC Target application: ... OK
### Test 7, Execute xPC Target application for 0.2s: ... OK
### Test 8, Upload logged data and compare with simulation results:. OK
### Test Suite successfully finished

If all of the tests succeed, you are ready to build and download a target
application to the target PC. See Chapter 3, “Basic Tutorial”.

If any of the tests fails, see the appropriate test section:

• “Test 1, Ping Target System Standard Ping” on page 2-64

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 2 Installation and Configuration

• “Test 2, Ping Target System xPC Target Ping” on page 2-66

• “Test 3, Reboot Target Using Direct Call” on page 2-67
• “Test 4, Build and Download Application” on page 2-67

Note This topic describes tests 1 to 4. For further details on these tests, or
for a description of tests 5 to 8, see “Troubleshooting xpctest Results” in the
“Frequently Asked Questions” chapter of the xPC Target User’s Guide.

Test 1, Ping Target System Standard Ping

If you are using a network connection, this is a standard system ping to your
target computer. If this test fails, try troubleshooting with the following
procedure:

1 Open a DOS shell and type the IP address of the target computer:

ping xxx.xxx.xxx.xxx

DOS should display a message similar to the following:

Pinging xxx.xxx.xxx.xxx with 32 bytes of data:

Replay form xxx.xxx.xxx.xxx: bytes-32 time<10 ms TTL=59

2 Check the messages on your screen.

Ping command fails — If the DOS shell displays the following message,

Pinging xxx.xxx.xxx.xxx with 32 byte of data:

Request timed out.

the ping command failed, and the problem might be with your network
cables.

To solve this problem, check your network cables. You might have a faulty
network cable, or if you are using a coaxial cable, the terminators might
be missing.

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 Testing and Troubleshooting the Installation

Ping command fails, but cables are okay — If the cables are okay, the
problem might be that you entered an incorrect property in xPC Target
Explorer.

To solve this problem, in the MATLAB Command Window, type

xpcexplr

For the problem target PC, check that Target PC IP address, LAN
subnet mask address, and TCP/IP gateway address have the correct
values. Change the TCP/IP options as necessary, then create a new boot
floppy disk. On the target PC, reboot with the new boot floppy disk.

For a PCI bus,

• Check that TCP/IP target bus type is set to PCI instead of ISA.

For an ISA bus,

• Check that TCP/IP target bus type is set to ISA instead of PCI.
• Check that TCP/IP target ISA memory port is set to the correct I/O
port base address and check that the address does not lead to a conflict
with another hardware resource.
• Check that TCP/IP target ISA IRQ number is set to the correct IRQ
line and check that the line number does not lead to a conflict with
another hardware resource.
• If the target PC motherboard contains a PCI chip set, check whether
the IRQ line used by the ISA bus Ethernet card is reserved within the
BIOS setup.

Ping succeeds, but test 1 with the command xpctest fails — The
problem might be that you have incorrect IP and gateway addresses
entered in xPC Target Explorer.

To solve this problem, in the MATLAB Command Window, type

xpcexplr

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 2 Installation and Configuration

For the problem target PCs, enter the correct addresses. Recreate the
target boot disk.

See also “xpctest: Test 1 Fails” in “Frequently Asked Questions” in the xPC
Target User’s Guide. If you still cannot solve your problem, see “If You Need
More Help” on page 2-68.

Test 2, Ping Target System xPC Target Ping

This test is an xPC Target ping to your target computer. If this test fails, try
troubleshooting with the following procedure:

1 In the MATLAB Command Window, type

tg=xpctarget.xpc('argument-list')

where argument-list is the connection information that indicates which

target PC you are working with. If you do not specify any arguments, the
software assumes that you are communicating with the default target PC.

2 Check the messages in the MATLAB Command Window.

MATLAB should respond with the following messages:

xPC Object
Connected = Yes
Application = loader

Target object does not connect — If you do not get the preceding
messages, the problem might be that you have a bad target boot disk.

To solve this problem, create another target boot disk with a new floppy
disk. See “Booting Target PCs from Boot Floppy Disk” on page 2-52.

See also “xpctest: Test 2 Fails” in “Frequently Asked Questions” in the xPC
Target User’s Guide. If you still cannot solve your problem, see “If You Need
More Help” on page 2-68.

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 Testing and Troubleshooting the Installation

Test 3, Reboot Target Using Direct Call

This test tries to boot your target computer using an xPC Target command.
If this test fails, try troubleshooting with the following procedure. This
procedure assumes that you have set environment settings with xPC Target
Explorer. See “Environment Properties for Serial Communication” on page
2-38 or “Environment Properties for Network Communication” on page 2-30.

1 In the MATLAB Command Window, type

xpctest('-noreboot')

This command reruns the test without using the reboot command and
displays the message

### Test 3, Software reboot the target PC: ... SKIPPED

2 Observe the messages in the MATLAB Command Window during the build
process.

Reboot fails, but build okay when reboot skipped — If the command
xpctest skips the reboot command but successfully builds and loads the
target application, the problem could be that some target hardware does
not support the xPC Target reboot command. In this case, you cannot use
this command to reboot your target computer. You need to reboot using a
hardware reset button.

See also “xpctest: Test 3 Fails” in “Frequently Asked Questions” in the xPC
Target User’s Guide. If you still cannot solve your problem, see “If You Need
More Help” on page 2-68.

Test 4, Build and Download Application

This test tries to build and download the model xpcosc.mdl. If this test fails,
try troubleshooting with the following procedure:

1 In the MATLAB Command Window, check the error messages.

These messages help you locate where there is a problem.

2 If you get the error message

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 2 Installation and Configuration

xPC Target loader not ready

Reboot your target computer. This error message is sometimes displayed

even if the target screen shows the loader is ready.

See also “xpctest: Test 4 Fails” in “Frequently Asked Questions” in the xPC
Target User’s Guide. If you still cannot solve your problem, see “If You Need
More Help” on page 2-68.

If You Need More Help

If you cannot solve your problem, contact MathWorks directly for help.

Internet To contact Mathworks Technical Support, use this form

http://www.mathworks.com/contact_TS.html
Telephone 508-647-7000
Ask for Technical Support.

Note MathWorks Technical Support might ask you to use the getxpcinfo
function to retrieve diagnostic information for your xPC Target configuration.
This function writes the diagnostic information to the xpcinfo.txt file in
the current folder. This file might contain information sensitive to your
organization. Review the contents of this file before sending to MathWorks.

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 Exporting and Importing xPC Target™ Explorer Environments

Exporting and Importing xPC Target Explorer

Environments
The xPC Target Explorer consists of the property settings you define for the
Configuration node, for example, for the host communication method and so
forth. When you have settings that you are happy with, you can save them as
variables in the MATLAB workspace.

This topic describes how to export target PC node property settings in a

structured format to the MATLAB workspace. It assumes that you have
set settings with xPC Target Explorer. See “Environment Properties for
Serial Communication” on page 2-38 or “Environment Properties for Network
Communication” on page 2-30.

1 If the xPC Target Explorer is not open, open it now. At the MATLAB
Command Window, type

xpcexplr

2 In the xPC Target Explorer xPC Target Hierarchy pane, right-click

the Configuration node of the target PC for which you want to save the
configuration. For example, right-click TargetPC1.

A context-sensitive menu is displayed.

3 Select Export Environment.

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 2 Installation and Configuration

The Export Environment to Workspace dialog is displayed.

4 In the Export Environment to Workspace dialog box, enter a unique name.

For example, type TargetPC1env.

5 Add configuration variables for as many target PC configurations as you

need.

The following illustrates a MATLAB workspace with two xPC Target

Explorer environment configuration variables.

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 Exporting and Importing xPC Target™ Explorer Environments

You can save the target PC environment structure to a MAT-file. This enables
you to reimport the configuration defined in the structure into a future xPC
Target Explorer session.

1 To save the variable TargetPC1env in the MAT-file targetpc1.mat, in the

MATLAB Command Window, type

save targetpc1.mat TargetPC1env

MATLAB saves the file targetpc1.mat in the current folder.

2 In the same MATLAB session, or in a different one, load the contents of

targetpc1.mat into the MATLAB workspace. Type

load targetpc1.mat

3 If the xPC Target Explorer is not open, open it now.

4 In the xPC Target Explorer xPC Target Hierarchy pane, right-click

the target PC node for which you want to import the configuration. For
example, right-click TargetPC1.

A context-sensitive menu is displayed.

5 Select Import Environment.

6 In the Import Environment Structure dialog, select a previously exported

configuration. For example, select TargetPC1env.

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 2 Installation and Configuration

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 3

Basic Tutorial

This chapter explains the basic functions of the xPC Target product by using
a simple Simulink model. Because this model does not have I/O blocks, you
can try these procedures whether or not you have I/O hardware on your target
PC. This chapter includes the following sections:

• “Simulink Model” on page 3-2

• “Simulating the Model” on page 3-37
• “xPC Target Application” on page 3-43
• “Running the Target Application” on page 3-54
• “Parallel Model Reference Builds Using Remote Workers” on page 3-68
• “Menu Bar and Toolbar Contents and Shortcut Keys” on page 3-69
 3 Basic Tutorial

Simulink Model
In this section...
“Creating a Simple Simulink Model” on page 3-2
“Entering Parameters for the Scope Block” on page 3-6
“Adding a Simulink Outport Block” on page 3-10
“Entering Parameters for the Outport Blocks” on page 3-13
“Adding an xPC Target Scope Block” on page 3-17
“Entering Parameters for an xPC Target Scope Block” on page 3-21

Creating a Simple Simulink Model

Before you can create a target application, you need to create a Simulink
model. The software xPC Target then uses the Simulink model, the Real-Time
Workshop environment, and a third-party compiler to create the target
application. This tutorial uses a simple Simulink model to explain the tasks
you need to do with the software xPC Target. If you are an experienced
Simulink user, you can skip creating this model.

The model includes a transfer function and a signal generator block. If you
want to visualize signals while simulating your model, you need to add a
standard Simulink Scope block.

1 In the MATLAB Command Window, type

simulink

The Simulink library window opens.

2 From the File menu, point to New, and then click Model.

A blank Simulink model window opens.

3 In the left pane, double-click Simulink, and then click Continuous.

In the right pane, the Simulink library shows a list of blocks.

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 Simulink® Model

4 Click and drag the Transfer Fcn block to the Simulink model window.

5 In the Simulink Library Browser window, click and drag the following
blocks to your model.

• Click Sources, and add a Signal Generator block.

• Click Sinks, and add a Scope block.
• Click Signal Routing, and add a Mux block.

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 3 Basic Tutorial

Note If you provide a name for a signal in the Signal name property of the
Signal Properties dialog box, that name appears in the target PC GUI scope
graph after you build and download the model to the target PC. By default,
if you do not enter a name for the signal in this dialog box, the scope graph
displays the signal identifier rather than a name.

6 Double-click the Signal Generator block. The Block Parameters dialog box
opens. From the Wave form list, select square.

In the Amplitude text box, enter

In the Frequency text box, enter

20

From the Units list, select rad/sec.

3-4
 Simulink® Model

Your Block Parameters dialog box will look similar to the following figure.

7 Double-click the Transfer Fcn block.

8 Edit the Numerator and Denominator parameters to match those in

the following figure.

9 Connect the Signal Generator block to the Transfer Fcn block, and connect
the input and output signals to the scope block using the Mux block.

Your model should look similar to the figure shown.

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 3 Basic Tutorial

10 From the File menu, click Save As and enter a filename. For example,
enter my_xpc_osc and then click OK.

You can use either a Simulink Scope block or an xPC Target Scope block to
visualize signals from an xPC Target application running in real time. The
topics for this example describe how to use the xPC Target Scope block. See
“Adding an xPC Target Scope Block” on page 3-17. See “Signal Tracing with
Simulink External Mode” for a description of how to use a Simulink Scope
block to visualize target application signals.

For information on creating a Simulink model and adding signal and scope
blocks, see the online Simulink documentation.

Entering Parameters for the Scope Block

You enter or change scope parameters to specify the x-axis and y-axis in a
Scope window. Other properties include the number of graphs in one Scope
window and the sample time for models with discrete blocks.

After you add a Scope block to your Simulink model, you can enter the scope
parameters for signal tracing:

1 In the Simulink window, double-click the Scope block.

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 Simulink® Model

A Scope window opens.

2 Click the Parameters button.

A Scope parameters dialog box opens.

3 Click the General tab. In the Number of axes box, enter the number of
graphs you want in one Scope window. For example, enter 1 for a single
graph. Do not select the floating scope check box.

In the Time range box, enter the upper value for the time range. For
example, enter 1 second. From the Tick labels list, choose all.

From the Sampling list, choose Sample time and enter 0 in the text
box. Entering 0 indicates that Simulink evaluates this block as a
continuous-time block. If you have discrete blocks in your model, enter the
Fixed step size you entered in the Configuration Parameters dialog box.

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 3 Basic Tutorial

Your Scope parameters dialog box will look similar to the figure shown
below.

4 Do one of the following:

• Click Apply to apply the changes to your model and leave the dialog
box open.
• Click OK to apply the changes to your model and close the Scope
parameters dialog box.

3-8
 Simulink® Model

5 In the Scope window, point to the y-axis shown in the figure below, and
right-click.

6 From the pop-up menu, click Axes Properties.

7 The Scope properties: axis 1 dialog box opens. In the Y-min and Y-max
text boxes, enter the range for the y-axis in the Scope window. For example,
enter -2 and 2 as shown in the figure below.

8 Do one of the following:

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 3 Basic Tutorial

• Click Apply to apply the changes to your model and leave the dialog
box open.
• Click OK to apply the changes to your model and close the Axes
Parameters dialog box.

Adding a Simulink Outport Block

If you want to log signal data to the MATLAB workspace for analysis and
later save that data to a disk, you need to add a Simulink Outport block and
activate logging from the Configuration Parameters dialog box.

The following procedure uses the Simulink model my_xpc_osc.mdl as an

example. To create this model, see “Creating a Simple Simulink Model” on
page 3-2.

1 In the MATLAB window, type

my_xpc_osc

The Simulink block diagram opens for the model my_xpc_osc.mdl.

2 In the Simulink window, from the View menu, click Library Browser.

The Simulink Library Browser window opens.

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 Simulink® Model

3 In the left pane, double-click Simulink, and then click Sinks.

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 3 Basic Tutorial

In the right pane, the browser shows a list of sink blocks.

4 Click and drag the Out1 block to your model and connect it to the output of
the Mux block.

Your model should look similar to the figure shown.

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 Simulink® Model

5 From the File menu, click Save As and enter a filename. For example,
enter my_xpc_osc1 and then click OK.

Your next task is to enter parameters for the Outport block. See “Entering
Parameters for the Outport Blocks” on page 3-13.

Entering Parameters for the Outport Blocks

During a simulation, Simulink saves signal data to MATLAB variables using
Outport blocks. The default MATLAB variables are tout, xout, and yout.
While running a real-time application, The xPC Target interface uses these
same variables to pass signal data to target object parameters. A target object
is a structure in the MATLAB workspace that the xPC Target software uses
to interact with a target application. The default target object is tg, and the
default parameters are Time, tg.States, and tg.Output.

After you add an Outport block to your Simulink model, you can enter
parameters. This procedure uses the model my_xpc_osc1.mdl with an
Outport block as an example. To add an Outport block, see “Adding a
Simulink Outport Block” on page 3-10.

1 In the MATLAB window, type

my_xpc_osc1

A Simulink window with the model my_xpc_osc1 opens.

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 3 Basic Tutorial

2 In the Simulink window, from the Simulation menu, click Configuration

Parameters.

The Configuration Parameters dialog box is displayed for the model.

3 Click the Solver node.

Simulink displays the Solver pane. The Simulation section of this pane
defines the initial stop and sample time for your target application.

4 In the Solver options section, enter 0 seconds in the Start time box.
In the Stop time box, enter an initial stop time. For example, enter 20
seconds. To change this time after creating your target application, change
the target object property tg.Stoptime to the new time using the MATLAB
command-line interface. To specify an infinite stop time, enter inf.

5 From the Type list, select Fixed-step. Real-Time Workshop does not
support variable-step solvers.

The Solver pane dialog changes.

6 From the Solver list, select a solver. For example, select the
general-purpose solver ode4 (Runge-Kutta).

7 In the Fixed step size box, enter the sample time for the target
application. For example, enter 0.00025 second (250 microseconds). You
can change this value after creating the target application.

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 Simulink® Model

If you find that 0.000250 second results in overloading the CPU on the
target PC, try a larger Fixed step size such as 0.002 seconds.

If your model contains discrete states, which would lead to a hybrid model
with both continuous and discrete states, the sample times of the discrete
states can only be multiples of the Fixed step size. If your model does
not contain any continuous states, enter 'auto', and the sample time is
taken from the model.

The Solver pane should look similar to the figure shown below.

8 Click the Data Import/Export node.

The Data Import/Export pane opens. This pane defines the model signals
logged during a simulation of your model or while running your target
application.

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 3 Basic Tutorial

9 In the Save to workspace section of this pane, select the Time, States,
and Output check boxes.

Note When your target application is running in real time, data is not
saved to the variables tout and yout. Instead, data is saved to the target
object properties TimeLog, StateLog, and OutLog. However, you must still
select the Time, States, and Output check boxes for data to be logged to
the target object properties.

The Data Import/Export pane should look similar to the figure shown.

Normally you select all the Save to workspace check boxes. However, you
might want to consider clearing some or all of them in the following cases:

• Many states — If your model contains many states (for example, more
than 20 states), the storage of the state vector requires a lot of target
memory. If you clear the States check box, logging of states is turned off
and more memory is available for the target application. An alternative
to logging all the state signals is to select individual states of interest by
adding Outport blocks to your model.

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 Simulink® Model

• Small sample time — If you choose a very short sample time, this setting
might overload the CPU. If you clear the Save to workspace check boxes,
logging is turned off and more computing time is available for calculating
the model.

1 Click OK.

2 From the File menu, click Save. The model is saved as my_xpc_osc1.mdl.

Your next task is to add an xPC Target Scope block to your Simulink model.
See “Adding an xPC Target Scope Block” on page 3-17.

Adding an xPC Target Scope Block

The xPC Target software does not support the standard Simulink Scope
blocks, but it does support xPC Target Scope blocks, which have unique
capabilities when you use them with an xPC Target application. Do not
confuse these xPC Target Scope blocks with standard Simulink Scope blocks.

Adding xPC Target Scope blocks to your Simulink model can save you time.
When you build the model, the resulting target application contains the xPC
Target Scope blocks you added to the model. After you download the target
application, the xPC Target Scope block automatically displays on the target
PC monitor. If you do not add xPC Target Scope blocks to your model and you
want to monitor signals on the target application without rebuilding it, you
need to add xPC Target scopes and define and select signals for the scopes
(see “Signals and Parameters” in the xPC Target User’s Guide). The signal
information is saved with your model.

Note If you want to monitor an output signal from a Constant block by

connecting it to an xPC Target Scope block, you must add a test point for the
Constant block output signal.

After you create a Simulink model, you can add an xPC Target Scope block.
The following procedure uses the Simulink model my_xpc_osc1.mdl as an
example to show how to connect an xPC Target Scope block to your model.

1 In the MATLAB window, type

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 3 Basic Tutorial

my_xpc_osc1

The Simulink block diagram opens for the model my_xpc_osc1.mdl.

2 In the Simulink window, from the View menu, click Library Browser.

The Simulink Library Browser window opens.

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 Simulink® Model

3 In the left pane, browse to and double-click xPC Target.

A list of I/O functions opens.

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 3 Basic Tutorial

4 Click Misc.

A list of miscellaneous group blocks opens.

5 Click and drag Scope (xPC) to your Simulink block diagram.

Simulink adds a new Scope block to your model with a scope identifier of 1.

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 Simulink® Model

6 Connect the xPC Target Scope block to the Simulink Scope block.

The model my_xpc_osc1.mdl should look like the figure shown.

7 From the File menu, click Save As. Enter a filename. For example, enter
my_xpc_osc2 and then click OK.

Your next task is to define the xPC Target Scope block parameters. See
“Entering Parameters for an xPC Target Scope Block” on page 3-21.

Entering Parameters for an xPC Target Scope Block

xPC Target Scope block parameters define the signals to trace on the scope
and trigger modes. When the target application is downloaded to the target
PC, the xPC Target kernel automatically creates the scope on the target. No
additional definitions are necessary if you want a default scope on the target.
This section describes how you can configure the xPC Target Scope block for
other scope behavior.

After you add an xPC Target Scope block to your Simulink model, you can
enter parameters for this block. To add an xPC Target Scope block, see

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 3 Basic Tutorial

“Adding an xPC Target Scope Block” on page 3-17. To enter the parameters
for an xPC Target Scope block to write signal data to a file on the target PC,
see “Entering Parameters for an xPC Target Scope of Type File” on page 3-31.

There are three types of scopes, target, host, and file. The xPC Target
Scope block dialog changes depending on which scope type you are configuring.
The following sections describe the procedure depending on the scope type:

• “Entering Parameters for an xPC Target Scope of Type Target” on page 3-22
• “Entering Parameters for an xPC Target Scope of Type Host” on page 3-27
• “Entering Parameters for an xPC Target Scope of Type File” on page 3-31

Entering Parameters for an xPC Target Scope of Type Target

This procedure uses the model my_xpc_osc2.mdl as an example.

1 In the MATLAB window, type

my_xpc_osc2

The Simulink block diagram opens for the model my_xpc_osc2.mdl.

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 Simulink® Model

2 Double-click the block labeled Scope (xPC).

The Block Parameters: Scope (xPC) dialog box opens.

By default, the scope of type Target dialog is displayed.

3 In the Scope number box, a unique number to identify the scope is

displayed. This number is incremented each time you add a new xPC
Target Scope block. Normally, you do not want to edit this value.

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 3 Basic Tutorial

This number identifies the xPC Target Scope block and the scope screen on
the host or target computers.

4 From the Scope type list, select Target if it is not already selected.

The updated dialog box is displayed.

5 Select the Start scope when application starts check box to start a
scope when the target application is downloaded and started. The scope
window opens automatically.

6 From the Scope mode list, select Numerical, Graphical redraw,

Graphical sliding, or Graphical rolling.

If you have a scope type of Target and a scope mode of Numerical, the
scope block dialog adds a Numerical format box to the dialog. You can
define the display format for the data. See step 7 for a description of how to
complete the Numerical format box. If you choose not to complete the
Numerical format box, the xPC Target software displays the signal using
the default format of %15.6f, which is a floating-point format, with no label.

7 In the Numerical format box, enter a label and associated numeric

format type in which to display signals. By default, the entry format is
floating-point, %15.6f. The Numerical format box takes entries of the
format

'[LabelN] [%width.precision][type] [LabelX]'

where

• LabelN is the label for the signal. You can use a different label for each
signal or the same label for each signal. This argument is optional.
• width is the minimum number of characters to offset from the left of the
screen or label. This argument is optional.
• precision is the maximum number of decimal places for the signal
value. This argument is optional.
• type is the data type for the signal format. You can use one or more of
the following types:

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Type Description
%e or %E Exponential format using e or E
%f Floating point
%g Signed value printed in f or e format depending on
which is smaller
%G Signed value printed in f or E format depending on
which is smaller

• LabelX is a second label for the signal. You can use a different label for
each signal or the same label for each signal. This argument is optional.

Enclose the contents of the Numerical format field in single quotation

marks.

For example,

'Foo %15.2f end'

For a whole integer signal value, enter 0 for the precision value. For
example,

'Foo1 %15.0f end'

For a line with multiple entries, delimit each entry with a command and
enclose the entire string in single quotation marks. For example,

'Foo2 %15.6f end,Foo3 %15.6f end2'

You can have multiple Numerical format entries, separated by a comma.

If you enter one entry, that entry applies to each signal (scalar expansion).
If you enter fewer label entries than signals, the first entry applies to the
first signal, the second entry applies to the second signal, and so forth, and
the last entry is scalar expanded for the remaining signals. If you have two
entries and one signal, the software ignores the second label entry and
applies the first entry. You can enter as many format entries as you have
signals for the scope. The format string has a maximum length of 100
characters, including spaces, for each signal.

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8 Select the Grid check box to display grid lines on the scope. Note that this
parameter is only applicable for scopes of type Target and scope modes of
type Graphical redraw, Graphical sliding, or Graphical rolling.

9 In the Y-Axis limits box, enter a row vector with two elements where the
first element is the lower limit of the y-axis and the second element is the
upper limit. If you enter 0 for both elements, then scaling is set to auto.
Note that this parameter is only applicable for scopes of type Target and
scope modes of type Graphical redraw, Graphical sliding, or Graphical
rolling.

10 In the Number of samples box, enter the number of values to be acquired

in a data package.

If you select a Scope mode of Graphical redraw, this parameter specifies

the number of values to be acquired before the graph is redrawn.

If you select a Trigger mode other than FreeRun, this parameter can
specify the number of samples to be acquired before the next trigger event.

If you select a Scope mode of Numerical, the block updates the output
every Number of samples.

11 In the Number of pre/post samples box, enter the number of samples to

save or skip. Specify a value less than 0 to save this number of samples
before a trigger event. Specify a value greater than 0 to skip this number of
samples after the trigger event before data acquisition begins.

12 In the Decimation box, enter a value to indicate that data should be

collected at each sample time (1) or at less than every sample time (2 or
greater).

13 From the Trigger mode list, select FreeRun.

If you select FreeRun or Software Triggering, the trigger event is an

automatic one. No external trigger specification is required.

If you select Signal Triggering, then, in the Trigger signal box, enter
the index of a signal. In the Trigger level box, enter a value for the signal
to cross before triggering. From the Trigger slope list, select either,
rising, or falling. You do not need to specify scope triggering.

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If you select Scope Triggering, then in the Trigger scope number box,
enter the scope number of a Scope block. If you use this trigger mode, you
must also add a second Scope block to your Simulink model. You do not
need to specify signal triggering.

If you select Scope Triggering and want the scope to trigger on a specific
sample of the other scope, enter a value in the Sample to trigger on
box. The default value is 0 and indicates that the triggering scope and the
triggered (current) scope start simultaneously. For more information on
this field, see “Triggering One Scope with Another Scope to Acquire Data”
in the xPC Target User’s Guide.

14 Click OK.

15 From the File menu, click Save As. The model is saved as
my_xpc_osc2.mdl.

Your next task is to simulate the model. See “Simulating the Model” on page
3-37.

Note As soon as the target application is built and downloaded, the xPC
Target kernel creates a scope. If you want to change xPC Target Scope
parameters after building the target application or while it is running, you
need to assign the scope to a MATLAB variable. To assign the scope object,
use the target object method getscope. If you use the target object method
getscope to remove a scope created during the build and download process,
and then you restart the target application, the xPC Target kernel recreates
the scope.

Entering Parameters for an xPC Target Scope of Type Host

This procedure uses the model my_xpc_osc2.mdl as an example.

1 In the MATLAB window, type

my_xpc_osc2

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The Simulink block diagram opens for the model my_xpc_osc2.mdl.

2 Double-click the block labeled Scope (xPC).

The Block Parameters: Scope (xPC) dialog box opens.

By default, the scope of type target dialog is displayed.

3 In the Scope number box, a unique number to identify the scope is

displayed. This number is incremented each time you add a new xPC
Target scope. Normally, you do not want to edit this value.

This number identifies the xPC Target Scope block and the scope screen on
the host or target computers.

4 From the Scope type list, select Host.

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The updated dialog box is displayed.

5 Select the Start scope when application starts check box to start a
scope when the target application is downloaded and started. With a scope
of type target, the scope window opens automatically. With a scope of type
host, you can open a host scope viewer window from xPC Target Explorer.

6 In the Number of samples box, enter the number of values to be acquired

in a data package.

7 In the Number of pre/post samples box, enter the number of samples to

save or skip. Specify a value less than 0 to save this number of samples
before a trigger event. Specify a value greater than 0 to skip this number of
samples after the trigger event before data acquisition begins.

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8 In the Decimation box, enter a value to indicate that data should be

collected at each sample time (1) or at less than every sample time (2 or
greater).

9 From the Trigger mode list, select FreeRun.

If you select FreeRun or Software Triggering, the trigger event is an

automatic one. No external trigger specification is required.

If you select Signal Triggering, then in the Trigger signal box, enter
the index of a signal. In the Trigger level box, enter a value for the signal
to cross before triggering. From the Trigger slope list, select either,
rising, or falling. You do not need to specify scope triggering.

If you select Scope Triggering, then in the Trigger scope number box,
enter the scope number of a Scope block. If you use this trigger mode, you
must also add a second Scope block to your Simulink model. You do not
need to specify signal triggering.

If you select Scope Triggering and want the scope to trigger on a specific
sample of the other scope, enter a value in the Sample to trigger on
box. The default value is 0 and indicates that the triggering scope and the
triggered (current) scope start simultaneously. For more information on
this field, see “Triggering One Scope with Another Scope to Acquire Data”
in the xPC Target User’s Guide.

10 Click OK.

11 From the File menu, click Save As. The model is saved as
my_xpc_osc2.mdl.

Your next task is to simulate the model. See “Simulating the Model” on page
3-37.

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Note As soon as the target application is built and downloaded, the xPC
Target kernel creates a scope. If you want to change xPC Target Scope
parameters after building the target application or while it is running, you
need to assign the scope to a MATLAB variable. To assign the scope object,
use the target object method getscope. If you use the target object method
remscope to remove a scope created during the build and download process,
and then you restart the target application, the xPC Target kernel recreates
the scope.

Entering Parameters for an xPC Target Scope of Type File

In addition to logging signal data via a scope of type host, you can also have
the xPC Target software save signal data to a file on the target PC C:\ hard
drive or 3.5-inch disk drive.

After you add an xPC Target Scope block to your Simulink model, you can
configure this block to save a file on the target PC.

Note The signal data file can quickly increase in size. You should examine
the file size between runs to gauge the growth rate for the file. If the signal
data file grows beyond the available space on the disk, the signal data might
be corrupted.

Saving signal data to files is most useful when you are using target PCs as
stand-alone xPC Target systems. To access the contents of the signal data file
that a xPC Target scope of type file creates, use the xPC Target file system
object (xpctarget.fs) from a host PC MATLAB window. To view or examine
the signal data, you can use the readxpcfile utility in conjunction with the
plot function. For further details on the xpctarget.fs file system object
and the readxpcfile utility, see “Working with Target PC Files and File
Systems” in the xPC Target User’s Guide. Saving signal data to files lets you
recover signal data from a previous run in the event of system failure (such as
a system crash).

To add an xPC Target Scope block, see “Adding an xPC Target Scope Block”
on page 3-17.

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This procedure uses the model my_xpc_osc2.mdl as an example.

1 In the MATLAB window, type

my_xpc_osc2

The Simulink block diagram opens for the model my_xpc_osc2.mdl.

2 Double-click the block labeled Scope (xPC).

The Block Parameters: Scope (xPC) dialog box opens.

By default, the scope of type Target dialog is displayed.

3 In the Scope number box, a unique number to identify the scope that
is displayed. This number is incremented each time you add a new xPC
Target scope. Normally, you do not want to edit this value.

This number identifies the xPC Target Scope block and the scope screen on
the host or target computer.

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4 From the Scope type list, select File.

The updated dialog box is displayed.

5 Select the Start scope when application starts check box to start a
scope when the target application is downloaded and started. The scope
window opens automatically.

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6 In the Number of samples box, enter the number of values to be

acquired in a data package. This parameter works in conjunction with the
AutoRestart check box. If the AutoRestart box is selected, the scope of
type file collects data up to Number of samples, then starts over again,
overwriting the buffer. If the AutoRestart box is not selected, the scope of
type file collects data only up to Number of samples, then stops.

7 In the Number of pre/post samples box, enter the number of samples to

save or skip. Specify a value less than 0 to save this number of samples
before a trigger event. Specify a value greater than 0 to skip this number of
samples after the trigger event before data acquisition begins.

8 In the Decimation box, enter a value to indicate that data should be

collected at each sample time (1) or at less than every sample time (2 or
greater).

Note This value is the same as Decimation in the MATLAB interface.

9 From the Trigger mode list, select FreeRun, Software Triggering,

Signal Triggering, or Scope Triggering.

If you select FreeRun or Software Triggering, the trigger event is an

automatic one. No external trigger specification is required.

If you select Signal Triggering, then in the Trigger signal box, enter
the index of a signal. In the Trigger level box, enter a value for the signal
to cross before triggering. From the Trigger slope list, select either,
rising, or falling. You do not need to specify scope triggering.

If you select Scope Triggering, then in the Trigger scope number box,
enter the scope number of a Scope block. If you use this trigger mode, you
must also add a second Scope block to your Simulink model. You do not
need to specify signal triggering.

If you want the scope to trigger on a specific sample of the other scope,
enter a value in the Sample to trigger on box. The default value is 0 and
indicates that the triggering scope and the triggered (current) scope start

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 Simulink® Model

simultaneously. For more information on this field, see “Triggering One

Scope with Another Scope to Acquire Data” in the xPC Target User’s Guide.

10 In the Filename box, enter a name for the file to contain the signal
data. By default, the target PC writes the signal data to a file named
C:\data.dat.

11 From the Mode list, select either Lazy or Commit. Both modes open a file,
write signal data to the file, then close that file at the end of the session.
With the Commit mode, each file write operation simultaneously updates
the FAT entry for the file. This mode is slower, but the file system always
knows the actual file size. With the Lazy mode, the FAT entry is updated
only when the file is closed and not during each file write operation. This
mode is faster, but if the system crashes before the file is closed, the file
system might not know the actual file size (the file contents, however,
will be intact). If you experience a system crash, you can expect to lose a
WriteSize amount of data.

12 In the WriteSize box, enter the block size, in bytes, of the data chunks.
This parameter specifies that a memory buffer of length Number of
samples write data to the file in WriteSize chunks. By default, this
parameter is 512 bytes, which is the typical disk sector size. Using a block
size that is the same as the disk sector size provides optimal performance.

If you experience a system crash, you can expect to lose a WriteSize

amount of data.

13 In the Number of samples box, enter the number of values to be acquired

in a data package.

14 Select the AutoRestart check box to enable the scope of type file to collect
data up to Number of samples, then start over again, appending the new
data to the end of the signal data file. Clear the AutoRestart check box to
have the scope of type file collect data up to Number of samples, then stop.

If the named signal data file already exists, the xPC Target software
overwrites the old data with the new signal data.

Your next task is to simulate the model. See “Simulating the Model” on page
3-37.

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The following sections describe how to simulate your model and run the target
application. With scopes of type file, the xPC Target software generates a
signal data file on the target PC after you run the target application. For
further details on working with these files, see “Working with Target PC Files
and File Systems” in the xPC Target User’s Guide.

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 Simulating the Model

Simulating the Model

In this section...
“Simulating the Model with Simulink” on page 3-37
“Simulating the Model from MATLAB” on page 3-39

Simulating the Model with Simulink

You use Simulink in normal mode to observe the behavior of your model in
nonreal time. After you load your Simulink model, you can run a simulation.
This procedure uses the Simulink model my_xpc_osc2.mdl as an example
and assumes you have already loaded that model. To create this model, see
“Creating a Simple Simulink Model” on page 3-2.

For procedures to run your target application in real time, see “Running the
Target Application” on page 3-54.

1 In the MATLAB window, type

my_xpc_osc2

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MATLAB loads the oscillator model and displays the Simulink block
diagram, as shown below.

2 In the Simulink window, double-click the Scope block.

Simulink opens a scope window.

3 From the Simulation menu, click Normal, and then click Start.

The Scope1 window displays a trace of the signal data.

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 Simulating the Model

4 You can either let the simulation run to its stop time, or stop the simulation
manually. To stop the simulation manually, from the Simulation menu,
click Stop.

Your next task is to create an xPC Target application. See “xPC Target
Application” on page 3-43.

Simulating the Model from MATLAB

You run a simulation of your Simulink model to observe the behavior of the
model in nonreal time.

After you load your Simulink model into the MATLAB workspace, you can
run a simulation. This procedure uses the Simulink model my_xpc_osc2.mdl
as an example and assumes you have already loaded that model. To create
this model, see “Creating a Simple Simulink Model” on page 3-2.

1 In the MATLAB window, type

sim('my_xpc_osc2')

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Simulink runs a simulation in normal mode through to completion.

You cannot manually stop the simulation. See the online Simulink
documentation for further information on using the sim command.

2 After Simulink finishes the simulation, type

plot(tout,yout)

You entered the MATLAB variables tout and yout in the Data I/O pane
on the Configuration Parameters dialog box. The signals are logged to
memory through Outport blocks. To add an Outport block, see “Adding a
Simulink Outport Block” on page 3-10 and “Entering Parameters for the
Outport Blocks” on page 3-13.

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 Simulating the Model

MATLAB opens a plot window and displays the output response. The
signal from the signal generator is added to the Outport block and shown
in the figure below.

Note When your target application is running in real time, data is not saved
to the variables tout and yout. Instead, data is saved in the target PC
memory and can be retrieved through the target object properties tg.TimeLog,
tg.StateLog, and tg.OutLog. However, in the Configuration Parameters
dialog box, you must still select the Time, States, and Output check boxes
for data to be logged to the target object properties.

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Your next task is to create a target application. See “xPC Target Application”
on page 3-43.

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 xPC Target™ Application

xPC Target Application

In this section...
“Booting the Target PC” on page 3-43
“Troubleshooting the Boot Process” on page 3-44
“Entering the Real-Time Workshop Parameters” on page 3-45
“Building and Downloading the Target Application” on page 3-49
“Troubleshooting the Build Process” on page 3-51
“Increasing the Time-Out Value” on page 3-52
“xPC Target Options Node” on page 3-53

Booting the Target PC

Booting the target computer loads and starts the xPC Target kernel on the
target PC. The loader then waits for the xPC Target software to download
your target application from the host PC.

After you have configured the xPC Target product using the xPC Target
Explorer and created a target boot disk for that setup, you can boot the
target PC. You need to boot the target computer before building your target
application because the build process automatically downloads your target
application to the target PC. Be sure that you have followed the instructions
from Chapter 2, “Installation and Configuration” before continuing.

1 Insert the target boot disk into the target PC disk drive.

2 Turn on the target PC or press the Reset button.

The target PC displays the following screen.

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In the example above, the status window shows that the kernel is in loader
mode and waiting to load a target application. 1 MB of memory is reserved for
the application, 3 MB is used by the kernel, and 28 MB is available from a
total of 32 MB. The xPC Target kernel uses the 28 MB for the heap, running
scopes, and acquiring data.

Your next task is to enter the simulation and real-time run parameters for
Real-Time Workshop. See “Entering the Real-Time Workshop Parameters”
on page 3-45.

Troubleshooting the Boot Process

Possible Problem
When booting the target PC, it might display a message like the following

xPC Target 4.X loading kernel..@@@@@@@@@@@@@@@@@@@@@@

The target PC displays this message when it cannot read and load the kernel
from the target boot disk. The probable cause is a bad disk.

Solution. If you have a 3.5-inch target boot disk, reformat the disk or use a
new formatted floppy disk and create a new target boot disk. If you have a CD
target boot disk, create a new disk.

Possible Problem
When booting the target PC, you get a message similar to the following:

Not a bootable medium or NTLDR is missing

Selecting either DOS Loader or Standalone mode instead of Boot Floppy

mode can cause this message.

Solution. If the xPC Target Explorer window is not already open, open
it. In the MATLAB Command Window, type xpcexplr. In the xPC Target
Explorer xPC Target Hierarchy pane, select a target PC Configuration
node. For example, select the Configuration node for TargetPC1. In the
configuration pane, select your desired boot mode. Create a new boot disk or
network boot image.

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Entering the Real-Time Workshop Parameters

You enter the simulation and real-time run parameters in the Configuration
Parameters dialog box. These parameters give information to Real-Time
Workshop on how to build the target application from your Simulink model.

After you load a Simulink model and boot the target PC, you can enter
the simulation parameters. This procedure uses the Simulink model
my_xpc_osc2.mdl as an example and assumes you have already loaded that
model (see “Simulink Model” on page 3-2).

1 In the MATLAB window, type

my_xpc_osc2

MATLAB loads the oscillator model and displays the Simulink block
diagram, as shown below.

2 In the Simulink window, and from the Simulation menu, click

Configuration Parameters.

The Configuration Parameters dialog box is displayed for the model.

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3 Click the Real-Time Workshop node.

The Real-Time Workshop pane opens.

4 To build a basic target application, in the Target selection section, click

the Browse button at the System target file list. Click xpctarget.tlc,
and then click OK.

The system target file xpctarget.tlc, the template makefile

xpc_default_tmf, and the make command make_rtw are automatically
entered into the page. The xPC Target options node appears in the left
pane. The Real-Time Workshop pane should now look like the figure
shown.

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 xPC Target™ Application

If you have the Real-Time Workshop Embedded Coder, you can build an
ERT target application. To build an ERT target application, in the Target
selection section, click the Browse button at the System target file list.
Click xpctargetert.tlc, and then click OK.

Note that if the Real-Time Workshop Embedded Coder is not installed and
you select xpctargetert.tlc, the build fails.

5 In the left pane, click the xPC Target options node.

The associated pane is displayed. These are model-level configuration

parameters that you can set for your model. See “Configuration
Parameters”in the xPC Target User’s Guide for a description of the options
on this node.

6 From the Execution mode list, select either Real-Time or Freerun.

The option Freerun is similar to a simulation, but with the generated
code. It runs the target application as fast as it can. However, unlike a
simulation, the Freerun mode of the xPC Target software does not support
variable-step solvers.

7 From the Real-time interrupt source list, select a source. The default
value is Timer.

8 Select the Log Task Execution Time check box to log task execution
times to the target object property tg.TETlog.

The task execution time is the time in seconds to complete calculations for
the model equations and post outputs during each sample interval. If you do
not select this box, your average TET value appears as Not a Number (NaN).

9 In the Signal logging buffer size in doubles box, enter the maximum
number of sample points to save before wrapping, for example, 100000.
This buffer includes the time, states, outputs, and task execution time logs.

10 In the Name of xPC Target object created by build process box, enter
the name of the target object created by the build process. The default
target object name is tg.

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The Real-Time Workshop pane should now look like the figure shown.

11 Click OK.

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 xPC Target™ Application

12 From the File menu, click Save as. Enter a filename. For example, enter
my_xpc_osc3 and then click Save.

Your next task is to create (build) the target application. See “Building and
Downloading the Target Application” on page 3-49.

Building and Downloading the Target Application

You use the xPC Target build process to generate C code, compile, link, and
download your target application to the target PC.

After you enter your changes in the Configuration Parameters dialog box, you
can build your target application. This procedure uses the Simulink model
my_xpc_osc3.mdl as an example. To create this model, see “xPC Target
Application” on page 3-43. By default, the build procedure downloads the
target application to the default target PC, as designated in the xPC Target
Explorer. See “xPC Target Options Node” on page 3-53 for further details on
setting the target PC for a target application.

1 In the MATLAB window, type

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my_xpc_osc3

MATLAB loads the oscillator model and displays the Simulink block
diagram.

2 In the Simulink window and from the Tools menu, select Real-Time
Workshop. From the Real-Time Workshop submenu, click Build
Model.

After the compiling, linking, and downloading process, a target object is

created in your MATLAB workspace. The default name of the target object
is tg. For more information about the target object, see “Targets and
Scopes in the MATLAB Interface” in the xPC Target User’s Guide.

On the host computer, MATLAB displays the following lines after a

successful build process:

### Starting Real-Time Workshop build procedure for model:

my_xpc_osc3
. . .
### Successful completion of xPC Target build procedure for
model: my_xpc_osc3

The target PC displays the following information:

3 In the MATLAB window, type

tg

MATLAB displays a list of properties for the target object tg.

If you do not have a successful build, see “Troubleshooting the Build Process”
on page 3-51.

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 xPC Target™ Application

Note If you accidentally download a target application built with a different

version of the xPC Target product than the one on the target PC, the following
error message will appear on the target PC monitor and the download will fail.

Mismatch between model and kernel versions

To prevent this version mismatch, always rebuild target applications with

each new xPC Target release.

Your next task is to run the target application in real time on the target PC.
See “Running the Target Application” on page 3-54.

Troubleshooting the Build Process

If the host PC and target PC are not properly connected, or you have not
correctly entered the environment properties, the download process is
terminated after about 5 seconds with a time-out error. Be sure that you
have followed the instructions outlined in Chapter 2, “Installation and
Configuration” before continuing.

To correct the problem, use the following procedure:

1 If the xPC Target Explorer is not already up, in the MATLAB window, type

xpcexplr

The xPC Target Explorer window opens.

2 For the target PC in question, check the RS-232 or TCP/IP parameters. If

necessary, make changes to the communication properties and recreate
the target boot disk.

In some cases, the download might have completed successfully even

though you get a time-out error. To detect this, wait until the target screen
displays

System:initializing application finished.

3 In the xPC Target Explorer window

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a Select the target PC in question

b From the menu bar, select Target > Ping Target.

For a working connection between the host PC and target PC, xPC Target
Explorer displays a pop-up dialog box.

4 Right-click the target PC in question and select Connect.

If the connection is resumed, the connection is all right. If the connection

is timing out consistently for a particular model, the time-out needs to be
increased. See “Increasing the Time-Out Value” on page 3-52.

For information on setting up the xPC Target software environment, see

either “Environment Properties for Serial Communication” on page 2-38 or
“Environment Properties for Network Communication” on page 2-30, and
then see “Booting Target PCs from Boot Floppy Disk” on page 2-52.

Increasing the Time-Out Value

By default, if the host PC does not get a response from the target PC after
downloading a target application and waiting about 5 seconds, the host PC
software times out. On the other hand, the target PC responds only after
downloading and initializing the target application.

Usually 5 seconds is enough time to download a target application, but in

some cases it may not be sufficient. The time to download a target application
mostly depends on your I/O hardware. For example, thermocouple hardware
takes longer to initialize. In this case, even though the target PC is fine,
a false time-out is reported.

You can increase the time-out value in one of the following ways.

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 xPC Target™ Application

• At the model level, open the Simulink > Configuration Parameters

dialog box and navigate to the xPC Target options node. Clear the Use
default communication timeout parameter and enter a new desired
time-out value in the Specify the communication timeout in seconds
parameter. For example, enter 20 to increase the value to 20 s.
• At the target application level, use the target application set method to
set the CommunicationTimeOut property to the desired time-out value. For
example, to increase the value to 20 s:

tg.set('CommunicationTimeOut',20)

For both methods, the host PC waits for about 20 seconds before declaring
that a time-out has occurred. Note that it does not take 20 seconds for every
download. The host PC polls the target PC about once every second, and if a
response is returned, declares success. Only in the case where a download
really fails does it take the full 20 seconds.

xPC Target Options Node

The configuration parameters xPC Target Options node appears when
you select and apply one of the xPC Target options to the Simulink model
Configuration Parameter > Real-Time Workshop > System target
file parameter:

• xpctarget.tlc
Generate code for an xPC Target target.
• xpctargetert.tlc
Generate code for an xPC Target target using the required Real-Time
Workshop Embedded Coder software.

The xPC Target Options node allow you to specify how the software
generates the target application. You might need to enter and select these
options before you create (build) a target application. However, the default
values of these options are reasonable for target application creation. See
“Configuration Parameters” in the xPC Target User’s Guide for a description
of the options on this node.

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 3 Basic Tutorial

Running the Target Application

In this section...
“Introduction” on page 3-54
“Control with xPC Target Explorer” on page 3-54
“Control with MATLAB Commands” on page 3-64
“Control with Simulink External Mode” on page 3-66

Introduction
During the build process, the xPC Target software creates a target object that
represents the target application running on the target PC. The target object
is defined by a set of properties and associated methods. You control the
target application and computer by setting the target object properties.

For procedures to simulate your model in nonreal time, see “Simulating the
Model” on page 3-37.

Control with xPC Target Explorer

This procedure assumes you have created an xPC Target boot disk and you
have booted the target PC. See “Booting Target PCs from Boot Floppy Disk”
on page 2-52. While the xPC Target Explorer gives you access to build and
download a target application, this procedure begins with a target application
already downloaded to the target PC (see “xPC Target Application” on page
3-43). For a description of how to download a prebuilt target application, see
“Downloading and Running Target Applications on a Target PC” on page 3-58.

1 In the MATLAB window, type

xpcexplr

The xPC Target Explorer window opens.

2 To connect to the target PC, right-click the target PC icon for which you
have downloaded the application and select Connect.

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 Running the Target Application

To view the model hierarchy for the downloaded application, one of the
following must be true:

• You must be in the same folder in which you build the target application.
Otherwise, xPC Target Explorer returns an error.

• When you built the target application, you selected the Include model
hierarchy on the target application check box in the xPC Target
Options pane.

If you are in the appropriate folder, a node for the target application
appears in the xPC Target Hierarchy under the target PC node and
displays information about the previously loaded target application.

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 3 Basic Tutorial

Note, if, in your current folder, you have a prebuilt target application that
you want to download to the target PC, left-click and drag the desired
target application to the target PC to which you want to download the
target application.

3 If you want to rebuild the current target application, in the xPC Target
Explorer window, right-click the target application node and select Go To
Simulink Model.

The Simulink window opens for that model.

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 Running the Target Application

4 To rebuild the target application, in the Simulink window and from

the Tools menu, select Real-Time Workshop. From the Real-Time
Workshop submenu, click Build Model.

The xPC Target software recompiles, links, and downloads the target
application to the target PC.

5 Start the target application. For example, in the xPC Target Explorer
window, select the downloaded target application.

6 From the toolbar, click the Start Application button . The target
application begins running on the target PC, and stops when it reaches
the stop time.

7 With the target application still selected in the Target Hierarchy pane of
xPC Target Explorer, enter a new value for the Stop time value for the
application and click Apply. For example,

inf

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 3 Basic Tutorial

8 Again, click the Start Application button. The target application now
runs until you stop it.

9 From the toolbar, click the Stop Application button .

See also “Signal Tracing with xPC Target Explorer” and “Signal Logging with
xPC Target Explorer” in the xPC Target User’s Guide.

Downloading and Running Target Applications on a Target PC

This topic describes how to change folder to one that contains the prebuilt
target applications (DLMs) you want to download to your target PCs and
how to download and run a prebuilt target application. To view the model
hierarchy, you must be in the same folder in which you build the target
application. This topic assumes the following:

• In your current working folder, you have a prebuilt target application that
you want to download to a target PC.
• You have installed xPC Target software and booted the target PC to which
you want to download a target application.

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 Running the Target Application

• You have a physical connection between the xPC Target Explorer host
machine and the target PC to which you want to download a target
application.

1 In the xPC Target Explorer, left-click the File menu. (Note that you can
also change this folder from the MATLAB window or by right-clicking the
DLM node.)

2 Select Change Host PC Current Working Directory.

A browser is displayed.

3 Browse to the folder that contains the prebuilt target applications you want.

4 Click OK.

A list of the prebuilt target applications appears, as shown.

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 3 Basic Tutorial

5 In xPC Target Explorer, check that the DLM(s) node in the xPC Target
Hierarchy has the pathname of the folder that contains the prebuilt target
application you want to download to the target PC.

Target Application
Directory (DLMs)

6 Right-click a target PC that you booted with xPC Target software, for
example, TargetPC1.

7 Select Connect.

The target PC icon changes and the red X is removed . The target PC
information changes to reflect file system and PCI device information.

8 Left-click and drag the desired target application to the target PC to which
you want to download the target application.

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 Running the Target Application

xPC Target Explorer downloads the target application to the target PC. A
node for the target application appears in the xPC Target Hierarchy
under the target PC node.

Alternatively, you can now drag a prebuilt target application, DLM, to a

target PC icon. If a connection does not already exist, xPC Target Explorer
optionally creates a connection to that target PC.

Note If you want to rebuild or revisit the model, click the Go to Simulink
Model button. The Simulink model for the target application appears.

9 In xPC Target Explorer, right-click the downloaded target application

node. For example, xpcosc.

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The context menu appears and lists the operations you can perform on
the target application.

10 Select Start.

xPC Target Explorer starts running the loaded target application.

11 Stop the target application (described here) or let the target application run
to the end. To stop the target application, right-click the target application
node (for example, xpcosc) and select Stop from the list.

See also “Signal Tracing with xPC Target Explorer” and “Signal Logging
with xPC Target Explorer” within “Signals and Parameters” in the xPC
Target User’s Guide.

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 Running the Target Application

Manipulating Target Application Properties

This topic describes how to manipulate target application properties. It
assumes that you have already downloaded the target application xpcosc to
a target PC.

1 In xPC Target Explorer, select the node of the loaded target application in
which you are interested. For example, xpcosc.

The right pane changes to the target application properties pane for the
application.

2 In this pane, you can change the following application properties:

• Stop time
• Sample time
• Log mode

See “User Interaction” on page 1-27 for limitations on changing sample

times.

3 Change the Stop time parameter to 9999. Click Apply. For example,

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Control with MATLAB Commands

You run your target application in real time to observe the behavior of your
model with generated code.

After the xPC Target software downloads your target application to the target
PC, you can run the target application. This procedure uses the Simulink
model my_xpc_osc3.mdl as an example, and assumes you have created and
downloaded the target application for that model. It also assumes that you
have assigned tg to the appropriate target PC.

1 In the MATLAB window, type any of

+tg or tg.start or start(tg)

The target application starts running on the target PC. In the MATLAB
window, the status of the target object changes from stopped to running.

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 Running the Target Application

xPC Object
Connected = Yes
Application = my_xpc_osc3
Mode = Real-Time Single-Tasking
Status = running

On the target PC screen, the Execution line changes from stopped to

running and the AverageTET line is periodically updated with a new
value.

2 In the MATLAB window, type

-tg or tg.stop or stop(tg)

The target application stops running.

The xPC Target software allows you to change many properties and
parameters without rebuilding your target application. Two of these
properties are StopTime and SampleTime.

3 Change the stop time. For example, to change the stop time to 1000
seconds, type either

tg.StopTime = 1000 or set(tg,'StopTime',1000)

4 Change the sample time. For example, to change the sample time to 0.01
seconds, type either

tg.SampleTime = 0.01 or set(tg, 'SampleTime', 0.01)

Although you can change the sample time between different runs, you can
only change the sample time without rebuilding the target application under
certain circumstances.

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 3 Basic Tutorial

If you choose a sample time that is too small, a CPU overload can occur. If
a CPU overload occurs, the target object property CPUOverload changes to
detected. In that case, change the Fixed step size in the Solver node to
a larger value and rebuild the model. (See “User Interaction” on page 1-27
for further limitations on changing sample times.)

Control with Simulink External Mode

Control of your xPC Target application with Simulink is limited to connecting
a Simulink model to a target application through external mode, and starting
the target application. Using Simulink external mode is one method to tune
parameters. In Simulink external mode, the model can only connect to the
default target PC.

Note Do not use Simulink external mode while xPC Target Explorer is
running. Use only one interface or the other.

After you create and download a target application to the target PC, you
can run the target application. This procedure uses the Simulink model
my_xpc_osc2.mdl as an example (see “Building and Downloading the Target
Application” on page 3-49). It assumes that you have specified the correct
target PC environment on the xPC Target options node of the Real-Time
Workshop parameters dialog. In particular, you must specify the target PC to
which you want to connect. See the Use the default target PC check box
description in “xPC Target Options Node” on page 3-53.

1 In the Simulink window, and from the Simulation menu, click External.

A check mark appears next to the menu item External, and Simulink
external mode is activated. Simulink external mode connects your Simulink
model to your target application as a simple graphical user interface.

2 In the Simulink window, and from the Simulation menu, click Connect
to target.

All the current Simulink model parameters are downloaded to your

target application. This downloading guarantees the consistency of the
parameters between the host model and the target application.

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 Running the Target Application

3 From the Simulation menu, click Start real-time code.

The target application begins running.

4 In the MATLAB window, type

tg.stop or -tg

You cannot stop the target application from the Simulink window by clicking
Stop real-time code from the Simulation menu.

Note Opening a dialog box for a source block causes Simulink to pause. While
Simulink is paused, you can edit the parameter values. You must close the
dialog box to have the changes take effect and allow Simulink to continue.

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Parallel Model Reference Builds Using Remote Workers

The xPC Target software supports the ability to build models that contain
referenced models in parallel when possible. This capability enables you to
more quickly build and download xPC Target applications to the target PC.

You can build models using a local PC, or using PCs running Windows
systems (remote workers). Depending on how you want to build, the following
products must be installed:

Build on... Requires...

Local host PC Parallel Computing Toolbox™
Remote workers running • Parallel Computing Toolbox
Windows
• MATLAB® Distributed Computing Server™

See “Reducing Build Time for Referenced Models” in the Real-Time Workshop
User’s Guide for a description of how to build referenced models in parallel
with a local host or a pool of remote workers.

Additionally, if you want to build models using a pool of remote workers:

1 Ensure that each remote worker has the same compiler configuration.
For example, all remote PCs must have the same compiler version and
installation path as the host PC..

2 Ensure that each remote worker has the xPC Target software installed.

3 After you call the matlabpool command to start the pool of remote workers,
in the MATLAB Command Window of the host PC, call the pctRunOnAll
command. This command configures the compiler for all the remote
workers. For example type a sequence like the following all on one line:

pctRunOnAll('setxpcenv(''CCompiler'',''VisualC'',''CompilerPath'',
''C:\Program Files\Microsoft Visual Studio 9.0'')')

4 Build and download your model.

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 Menu Bar and Toolbar Contents and Shortcut Keys

Menu Bar and Toolbar Contents and Shortcut Keys

The procedures in the xPC Target documentation for xPC Target Explorer use
right-click operations. You can also perform xPC Target Explorer operations
through the menu bar and toolbar. This section is a reference for the menu
bar and toolbar contents.

The xPC Target Explorer menu bar has the following menus:

• File — General file operation options, including

- Add Target — Add a target PC to the xPC Target system.
- Remove Target — Remove a target PC from the xPC Target system.
- Change Host PC Current Directory — Change folder to one that
contains the prebuilt target application (DLM) you want to download
to your target PCs.
- Close — Close xPC Target Explorer.
• Target — General target PC operations, including
- Ping Target — Test the communication between the host PC and
target PCs.
- Connect to Target — Connect xPC Target Explorer to selected target
PC.
- Set As Default — Designate the selected target PC as the default one.
- Import Environment — Import an existing target PC configuration
from the MATLAB workspace.
- Export Environment — Save the target PC environment structure to
a MAT-file.
- Save Session — Save target PC application sessions to xPC Target
Explorer.
- Load Session — Load target PC application sessions to xPC Target
Explorer.
• Application — General target application operations, including
- Start Application — Start the selected target application.

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 3 Basic Tutorial

- Stop Application — Stop the selected target application.

- Add a scope — Add a scope of type Host, Target, or File.
- Delete scope — Delete a scope.
- View host scopes — Display a viewer on the host PC for scopes of type
host.
• Tools — General operations, including
- Enable/Disable Refresh — Enable/disable the window refresh.
- Change Refresh Rate — Change the refresh rate for the display of
signals in xPC Target Explorer. In the Refresh Rate dialog box, enter
the desired refresh rate in seconds. Note that setting the refresh rate to
less than 0.2 seconds (default) might cause target PC CPU overloads or
degrade MATLAB performance.
- Go to Simulink Model — For the selected model, display the Simulink
model.
• Help — General product help information, including
- Using xPC Target -- Invoke help for xPC Target product.
- xPC Target Explorer Help — Invoke help for xPC Target Explorer.
- About xPC Target — Invoke general xPC Target information.

The xPC Target Explorer toolbar has buttons for some of the more commonly
used operations available from the menu bar. These buttons include

Button Description
Add Target button

Delete Target button

Connect to Target button

Start Application button

Stop Application button

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 Menu Bar and Toolbar Contents and Shortcut Keys

Button Description
Scope Viewer button

Go to Simulink Model button

The xPC Target Explorer has the following keyboard shortcuts:

Action Shortcut
Add target Ctrl+A
Remove target Ctrl+R
Close Ctrl+W
Stop/start target Ctrl+T
Ping target Ctrl+P
Delete scope Select scope and click Delete

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3-72
 Glossary

Glossary

application
See target application.

build process
Process of generating a target application from your Simulink model,
compiling, linking, and downloading the generated code to create a
target application.

execution
Running the target application on the target PC in real time.

executable code
See target application.

kernel
Real-time software component running on the target PC that manages
the downloaded target application.

model
Simulink and/or Stateflow model.

parameter tuning
Process of changing block parameters and downloading the new values
to a target application while it is running or not running.

sample rate
Rate the target application is stepped in samples/second. Reciprocal
of the sample time.

sample time
Interval, in seconds, between the execution of target application steps.

signal logging
Acquiring and saving signal data created during a real-time execution.

signal monitoring
Getting the values of one or more signals without time information.

Glossary-1
 Glossary

signal tracing
Acquiring and displaying packages of signal data during real-time
execution.

simulation
Running a simulation of the Simulink and Stateflow model on the host
PC in nonreal time.

target application
Executable code generated from a Simulink and Stateflow model, which
can be executed by the xPC Target kernel on the target PC.

Glossary-2
 Index

A
Index CD target boot disk
advantages of network communication 1-16 creating 2-49
analog input (A/D) code generation options
driver support 1-17 for Real-Time Workshop 3-45
analog output (D/A) reference 3-53
driver support 1-17 COM API 1-34
API command-line interface
custom GUI 1-34 MATLAB 1-29
API for Microsoft .NET framework 1-33 target PC 1-32
communication
between computers 1-20
B network 2-25
before you boot network advantages 1-16
checklist 2-45 serial 2-37
BIOS compiler
target PC 1-5 required 2-4
BIOS settings 2-13 computer
block parameters communication 1-20
scope 3-21 desktop PC for host 1-13
boot options 2-44 desktop PC for target 1-14
boot floppy disk 2-52 host PC 1-13
CD 2-46 industrial PC 1-14
dedicated network 2-55 notebook PC 1-13
booting PC/104 and PC/104+ 1-14
target PC 3-43 target PC 1-14
troubleshooting 3-44 connections
build process computers 1-15
target application 3-49 I/O boards 1-17
troubleshooting 3-51 real-world 1-17
controlling target applications
with MATLAB 3-64
C
with Simulink external mode 3-66
C compiler counter timers
network setup 2-30 driver support 1-17
required product 2-4 creating boot media
serial setup 2-39 checklist 2-45
CAN field bus creating CD target boot disks 2-49
driver support 1-17 creating target applications 3-43
CD creating target boot disks 2-54
creating for booting 2-46 creating target objects 3-49

Index-1
 Index

custom GUI 1-34 Ethernet chip sets

API 1-34 supported 2-25
API for Microsoft .NET framework 1-33 exporting and importing
COM API 1-34 xPC Target Explorer 2-69
external mode
controlling target application 3-66
D
user interaction 1-31
dedicated network
booting within 2-55
default target PC F
introduction 2-23 features of xPC Target
defining scope block parameters 3-21 fixed-point support 1-11
desktop PC MATLAB Compiler support 1-11
host computer 1-13 parameter tuning 1-9
target computer 1-14 real-time application 1-8
directories real-time kernel 1-5
installed 2-16 signal acquisition 1-8
working 2-16 files
xpc 2-16 data acquisition 3-31
xpcdemo 2-16 host PC 2-16
DOS loader mode installed 2-16
embedded option 1-24 project folder 2-16
downloading target application 3-49 scopes 3-31
working folder 2-16
xpc folder 2-16
E
xpcdemos folder 2-16
embedded option fixed-point support 1-11
DOS loader mode 1-24 floppy disk
stand-alone mode 1-24 creating for booting 2-52
encoder
I/O driver support 1-17
entering simulation parameters 3-45 G
environment GPIB field bus
network communication 2-30 driver support 1-17
serial communication 2-38 graphical user interface (GUI)
Ethernet card custom with API 1-34
ISA bus 2-28 custom with API for Microsoft .NET
PC/104 bus 2-25 framework 1-33
PCI bus 2-27 custom with COM API 1-34
SBS bus 2-25

Index-2
 Index

H hardware 2-37
hardware environment network communication 2-25
requirements for target PC 2-10 on the host PC 2-15
hardware-in-the-loop process 1-24 serial communication 2-37
host computer testing 2-62
see host PC 1-13 ISA bus
host PC 2-15 Ethernet card 2-28
communication 1-20
configuring 2-19 K
connections 1-15
kernel
downloading software 2-15
target boot disk 1-5
files 2-16
target PC BIOS 1-5
hardware 2-37
xPC Target 1-5
license file 2-15
requirements 2-8
L
I license
obtaining 2-16
I/O boards
supported by xPC Target 1-17
I/O driver support M
analog input (A/D) 1-17 MathWorks
analog output (D/A) 1-17 technical support 2-68
CAN field bus 1-17 valid license 2-16
counter timers 1-17 MATLAB
digital 1-17 controlling target application 3-64
encoder 1-17 required product 2-2
GPIB 1-17 MATLAB Compiler support 1-11
RS-232 1-17 memory model
RS-422 1-17 target application 1-8
RS-485 1-17
shared memory 1-17
UDP 1-17 N
industrial PC 1-14 network boot 2-55
initial working folder 2-17 network communication
installation prerequisite advantages 1-16
obtaining a valid license 2-16 environment 2-30
installing hardware 2-25
Ethernet card for ISA 2-28 host PC 2-25
Ethernet card for PCI 2-27 installing and setting up 2-25

Index-3
 Index

specifying environment properties 2-30 Simulink 2-3

target PC 2-25 xPC Target 2-2
notebook PC 1-13 requirements
host PC 2-8
system 2-8
O
target PC 2-10
outport block RS-232
adding to Simulink model 3-10 Quatech 1-17
simulation parameters 3-13 RS-422
overview Quatech 1-17
MATLAB command-line interface 1-29 RS-485
Quatech 1-17
P running simulation
host PC 3-37
parameter tuning
interactive 1-9
scripts 1-9 S
parameters SBS bus
scope blocks 3-21 Ethernet card 2-25
PC/104 bus scope blocks
Ethernet card 2-25 parameters 3-21
PCI bus xPC Target 1-32
Ethernet card 2-27 scopes
file 3-31
Q host 3-27
target 3-22
Quatech serial drivers 1-17
serial communication
environment 2-38
R hardware 2-37
rapid prototyping process 1-21 installing and setting up 2-37
real-time application section overview 2-37
memory model 1-8 setting
task execution time 1-8 network communication 2-30
real-time kernel 1-5 serial communication 2-38
Real-Time Workshop setting initial working folder 2-17
code generation options 3-53 setup (network) dialog box
required products C compiler 2-30
C language compiler 2-4 setup (serial) dialog box
MATLAB 2-2 C compiler 2-39
Real-Time Workshop 2-4 shared memory driver support 1-17

Index-4
 Index

signal acquisition stopping 3-64

logging 1-8 target PC 3-54
monitoring 1-8 task execution time 1-8
tracing 1-8 target boot disk
simulation creating 2-54
from MATLAB 3-39 kernel 1-5
Simulink tutorial model 3-37 with desktop PC 1-14
with Simulink 3-37 with industrial PC 1-14
simulation parameters target PC
entering 3-13 boot disk 1-5
for Real-Time Workshop 3-45 booting 3-43
xPC Target Scope block 3-21 command-line interface 1-32
Simulink external mode communication 1-20
controlling target application 3-66 compatible target computers 2-13
Simulink model connecting 1-15
basic tutorial 3-2 creating boot disk 2-54
outport block 3-10 creating CD boot disk 2-49
xPC Target Scope blocks 3-17 creating CD bootable ROM 2-49
software environment hardware 2-37
requirements on host PC 2-8 hardware requirements 2-10
requirements on target PC 2-10 I/O boards 2-13
software installation 2-15 real-time kernel 1-6
stand-alone mode running target application 3-54
embedded option 1-24 software installation 2-62
starting and stopping software requirements 2-10
target application 3-64 troubleshooting installation 2-62
system requirements task execution time (TET) 1-8
host PC 2-8 logging 3-45
target PC 1-14 testing installation 2-62
timeout value
changing 3-52
T
troubleshooting
target application 1-8 boot process 3-44
building 3-49 build process 3-51
control with external mode 3-66 timeout value 3-52
creating 3-43 tutorial
downloading 3-49 basic 3-1
memory model 1-8 creating a Simulink model 3-2
running 3-54 creating a target application 3-43
starting 3-64 running target application 3-54

Index-5
 Index

simulating a Simulink model 3-37 working folder

initial 2-17
setting initial 2-17
U
UDP driver support 1-17
user interaction X
MATLAB command-line interface 1-29 xPC Target
Simulink external mode interface 1-31 features 1-5
target PC command line 1-32 interaction 1-27
Web browser 1-33 introduction 1-1
with API 1-34 kernel 1-5
with API for Microsoft .NET framework 1-33 required products 2-2
with COM API 1-34 supported I/O boards 1-17
xPC Target Scope blocks 1-32 xPC Target Explorer
exporting and importing 2-69
introduction 2-21
V
menu bar 3-69
valid license shortcut keys 3-69
obtaining 2-16 toolbar 3-69
xPC Target Scope blocks
W adding to Simulink model 3-17
interface 1-32
Web browser
user interaction 1-33

Index-6