You can use Connected I/O to communicate with the IO peripherals on the hardware during Normal mode simulation.
Normal mode simulation with Connected I/O is an intermediate step in the Model-Based Design workflow that bridges the gap between simulation and code generation by enabling Simulink® to communicate with the hardware before deploying the model on the hardware. Connected I/O enables you to modify your model design and monitor the effect of the modified design using peripheral data from the hardware in a near real-time environment. You are not required to deploy the model on the hardware to monitor the effect of the modified design, which accelerates the simulation process. This interaction between Simulink (software) and Raspberry Pi™ (hardware) is possible in Normal mode simulation only when you enable Connected I/O.
These sections explain:
The Connected I/O described here applies to the Simulink Support Package for Raspberry Pi Hardware on these Raspberry Pi blocks:
Source blocks: Without Connected I/O, these source blocks output zero during Normal mode simulation. With Connected I/O, these blocks read data from the peripherals of the hardware during Normal mode simulation.
Sink blocks: Without Connected I/O, these sink blocks do not have any role during Normal mode simulation. With Connected I/O, these blocks write data to the peripherals of the hardware during Normal mode simulation.
Connected I/O creates a communication interface that enables the Simulink model and the IO Server to communicate with each other. The Simulink model resides in your computer, and the IO Server is an engine on the hardware that contains all the peripheral functions. The transport layer formats and transmits the data using the communication interface.
This diagram shows the connection that the Connected I/O creates between your computer and the hardware.
Communication in Normal Mode Simulation with Connected I/O
When you simulate a Simulink model in Normal mode with Connected I/O:
The device driver blocks (for example, GPIO Read and GPIO Write blocks) in the model request peripheral data from the IO Server.
The IO Server accepts the request and responds with the requested data. You can use any Simulink sink or dashboard block to view the received data. Using the peripheral data received, you can verify that your model design meets the requirements.
If necessary, you can modify the design by adding, removing, or replacing any block in the Simulink model.
After the model is modified, resimulate the model. During simulation, the data request from the model is communicated to the hardware. You can continue to modify and simulate the model until the expected behavior is achieved.
The communication in Connected I/O is an on-demand process. The hardware sends data only when receiving a data request from the Simulink model.
You do not have to build, deploy, and run the model on the hardware to monitor the effects of your changes in your model design.
When you simulate a model in Normal mode without Connected I/O, Simulink does not communicate with the hardware. Simulink communicates with the hardware only when the code is generated and the model is deployed on the hardware in External mode. Normal mode simulation with Connected I/O is an intermediate step in the model-based design workflow that bridges the gap between simulation and code generation by enabling Simulink to communicate with the hardware before deploying the model on the hardware.
This Model-Based Design Workflow diagram displays a model-based workflow:
Create a Simulink model.
Simulate the model in:
Normal mode simulation: There is no hardware interaction and no code generation.
Connected I/O mode: The model communicates with the hardware. There is no code generation.
External mode (Monitor & Tune): The model is deployed on the hardware and generates code.
Deploy the model to the hardware.
Model-Based Design Workflow
Connected I/O and External mode both enable you to communicate with the hardware during simulation. However, you use Connected I/O and External mode for different purposes. The table shows the actions that you can perform with each mode.
|Action||External Mode||Connected I/O|
|Obtain real-time data||You can obtain real-time data with External mode.||Enable the Simulink Pacing Option to get near real-time data.|
|Timing analysis of real-time data||Timing analysis of real-time data is possible because the Simulink model is running on the hardware in real-time.||Timing analysis of real-time data is not possible because the Simulink model is running in your computer and not on the hardware.|
|Time required to start simulation||1-2 minutes||Few seconds|
|Code generation||Code is generated on the hardware.||No code is generated.|
Follow these steps to run a Simulink model in connected I/O mode:
Open a Simulink model.
On the Modeling tab of the model, select Model Settings.
In the Configuration Parameters dialog box, select Hardware Implementation from the left pane and select the target hardware in the Hardware board parameter.
On the Hardware tab of the model, in the
Mode section, select
IO and then click Run with IO.
Additionally, you can change the rate of simulation by enabling
Simulink Pacing as described in Simulation Pacing.