Hi,
first of all thank you for your comment.
- Cross Compilation:
Unfortunatelly i don’t have much experince with this subject, but i did compile acados with the generic settings for blasfeo and hpipm as well as the EXT_DEP flag off (inspired by some other posts on this forum).
I just got the information that libraries do not work, due to some memory allocation things, from the colleague which gave me the hint with the S-Function Builder. He did use this approach and got a casadi controller running in TwinCat. - Timing:
To get the timing working on the Beckhoff PC, one would have to use the c++ functions provided by Beckhoff and do some time conversions i guess. But since these functions are not available in Simulink, i guess it would result in some other linker errors.
Or what was your thought about this? - Execution Speed
The use of the debug flag was not a precise description of the problem from me. The cause of the problem it the -Og optimization flag. When used, the resulting/compilated TwinCat Module does run, and is indeed alive (tested with a simple output=2*input code in the S-Function Builder) but it does not execute/call the acados solver. Some other colleague did hear about my problem and said he had a similar problem and that he had to use unique ponters instead of “regular” pointers. The debug capabilities are unfortunatelly limited in TwinCat and i could not track down what went wrong. - CPU
I will take a look later and check what CPU the PC has and if there is a target in BLASFEO.
Edit: It is a “Intel Atom® E3845, 1,91 GHz”.
Best regards,
Alex