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Generate s_function on Matlab with external libraries for use on an embedded dSPACE system

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0

I am looking to run an MPC (Model Predictive Control) controller on an embedded system (dSPACE autobox). The MPC algorithm is formulated using the framework Casadi (https://web.casadi.org/). This framework does not allow for C code generation for the nonlinear programming solver itself but only for its dependencies. Therefore I would like to link the Casadi library and nonlinear programming solver (IPOPT).

I would like to generate an s_function such that it can be used within the Real-Time Interface (RTI) for Matlab/Simulink and dSPACE.

My question is: How do I go about creating a shared library that can be used in conjunction within Matlab in an S-Function on Matlab R2013B using Microsoft Visual Studio 10 with Windows 7.1 SDK?

• I tried to use 'mcc' and 'mex' in Matlab (see code (1)). This does not work, probably due to compatibility issues between different compilers, used for the Casadi code and these commands.


• I tried this way (see code (2)): https://nl.mathworks.com/matlabcentral/fileexchange/44197-calling-shared-libraries-from-simulink. It's either complaining about:'exlib.exp' not found or Link of 'exlib.mexw64' failed.


• I tried to get CMake into matlab but so far without success (https://nl.mathworks.com/matlabcentral/fileexchange/45522-mex_cmake).

% (1)
% Create shared library
mcc -v -W lib:mylib -T link:lib nlp.c

% Create S-function
mex s_function.c nlp.c mylib.lib -g -v

% (2)
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','CMDLINE300="del exlib.exp exlib.dll.manifest"','exlib.c');
% or
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','exlib.c');

matlab optimization cmake embedded dspace-ecu

share|improve this question

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

• 
  
  
  

  
  

  
  
  
  
  
  

  
  
  You might be able to run the s function on your host pc once you solved your problems linking, but that won't succeed. To run it on the autobox you need the library either built for that architecture (a ds1005 ppc inside?) or the complete source code. Or do you have compatible binaries available?
  
  – Daniel
  Jun 15 at 14:14
  

  
  
  
  

add a comment | 

0

I am looking to run an MPC (Model Predictive Control) controller on an embedded system (dSPACE autobox). The MPC algorithm is formulated using the framework Casadi (https://web.casadi.org/). This framework does not allow for C code generation for the nonlinear programming solver itself but only for its dependencies. Therefore I would like to link the Casadi library and nonlinear programming solver (IPOPT).

I would like to generate an s_function such that it can be used within the Real-Time Interface (RTI) for Matlab/Simulink and dSPACE.

My question is: How do I go about creating a shared library that can be used in conjunction within Matlab in an S-Function on Matlab R2013B using Microsoft Visual Studio 10 with Windows 7.1 SDK?

• I tried to use 'mcc' and 'mex' in Matlab (see code (1)). This does not work, probably due to compatibility issues between different compilers, used for the Casadi code and these commands.


• I tried this way (see code (2)): https://nl.mathworks.com/matlabcentral/fileexchange/44197-calling-shared-libraries-from-simulink. It's either complaining about:'exlib.exp' not found or Link of 'exlib.mexw64' failed.


• I tried to get CMake into matlab but so far without success (https://nl.mathworks.com/matlabcentral/fileexchange/45522-mex_cmake).

% (1)
% Create shared library
mcc -v -W lib:mylib -T link:lib nlp.c

% Create S-function
mex s_function.c nlp.c mylib.lib -g -v

% (2)
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','CMDLINE300="del exlib.exp exlib.dll.manifest"','exlib.c');
% or
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','exlib.c');

matlab optimization cmake embedded dspace-ecu

share|improve this question

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

• 
  
  
  

  
  

  
  
  
  
  
  

  
  
  You might be able to run the s function on your host pc once you solved your problems linking, but that won't succeed. To run it on the autobox you need the library either built for that architecture (a ds1005 ppc inside?) or the complete source code. Or do you have compatible binaries available?
  
  – Daniel
  Jun 15 at 14:14
  

  
  
  
  

add a comment | 

I am looking to run an MPC (Model Predictive Control) controller on an embedded system (dSPACE autobox). The MPC algorithm is formulated using the framework Casadi (https://web.casadi.org/). This framework does not allow for C code generation for the nonlinear programming solver itself but only for its dependencies. Therefore I would like to link the Casadi library and nonlinear programming solver (IPOPT).

I would like to generate an s_function such that it can be used within the Real-Time Interface (RTI) for Matlab/Simulink and dSPACE.

My question is: How do I go about creating a shared library that can be used in conjunction within Matlab in an S-Function on Matlab R2013B using Microsoft Visual Studio 10 with Windows 7.1 SDK?

• I tried to use 'mcc' and 'mex' in Matlab (see code (1)). This does not work, probably due to compatibility issues between different compilers, used for the Casadi code and these commands.


• I tried this way (see code (2)): https://nl.mathworks.com/matlabcentral/fileexchange/44197-calling-shared-libraries-from-simulink. It's either complaining about:'exlib.exp' not found or Link of 'exlib.mexw64' failed.


• I tried to get CMake into matlab but so far without success (https://nl.mathworks.com/matlabcentral/fileexchange/45522-mex_cmake).

% (1)
% Create shared library
mcc -v -W lib:mylib -T link:lib nlp.c

% Create S-function
mex s_function.c nlp.c mylib.lib -g -v

% (2)
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','CMDLINE300="del exlib.exp exlib.dll.manifest"','exlib.c');
% or
mex('LDEXT=.dll','LINKEXPORT=','LINKEXPORTVER=','exlib.c');

matlab optimization cmake embedded dspace-ecu

share|improve this question

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

share|improve this question

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

share|improve this question

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

edited Mar 26 at 15:36

terrywb

2,61511 gold badge1111 silver badges3030 bronze badges

asked Mar 26 at 15:17

AlexAlex

111 bronze badge

asked Mar 26 at 15:17

AlexAlex

111 bronze badge