Simulink code generation targeting a MPC555 microcontroller (French text)

The objective of this project is to execute Simulink generated code on a development board with a MPC555. The main hypothesis is that standard code generator performance is good enough to target embedded processors. The MPC555 microcontroller is used in many control applications including combustion control in cars. One future application for this project is to control a five degrees of freedom robot.; Development starts with the analysis of different code generation solutions. Real-Time Workshop from MathWorks is selected for its availability and price. A code generation template and scheduler are then developed. Once generated, the code is compiled and executed in the CodeWarrior environment from Metrowerks. A synchronization feature was then added to the scheduler. Two Simulink blocks have been developed for interaction with the simulation through a terminal software connected to an RS-232 port. Two other blocks allow using the Quadrature Decoding and the Pulse Width Modulation output of the MPC555. All blocks follow Simulink's S-function format.; A position controlled DC motor application and a Labview graphical interface were created to assess the overall solution. The interface allows changing model parameters and visualizing motor position on a scope indicator. Model time step is 1 ms. After performing different tests, it was established that the computation time required for each block was less than 10 μs with the exception of the terminal print block where the sprintf function takes about 120 μs per variable. The application requires 150 KB of Flash and 36 KB of RAM which is reasonable for the MPC555. With all the results obtained, it was concluded that this solution is very interesting for doing rapid control prototyping.; As a recommendation, high speed data acquisition feature using the CAN or the second RS-232 port would constitute an interesting addition.