S-Function fails Simulink Compile Check

giaf · July 2, 2020, 8:52am

Hi Alex,

regarding BLASFEO, if you use the generic target, it is almost completely self contained C code so there should be little to no issues in porting to any architecture.

In particular, you can start by turning off the EXT_DEP flag, that is e.g. here

github.com

giaf/blasfeo/blob/master/Makefile.rule#L202


MACRO_LEVEL = 1

# Use C99 extension to math library
#
# USE_C99_MATH = 0
USE_C99_MATH = 1

# Compile auxiliary functions with external dependencies (for memory allocation, printing and timing)
#
# EXT_DEP = 0
EXT_DEP = 1

# Compile reference implementations with test_ prefix
# in order to check HIGH_PERFORMANCE routines against reference
# TODO bug: if LA=EXTERNAL_BLAS_WRAPPER and TESTING_MODE=1, reference code is used for libblasfeo.a
# Also enables the compilation of tests
#
TESTING_MODE = 0
# TESTING_MODE = 1

# Compile not-yet-implemented routine with just-return instead of print-and-exit

github.com

giaf/blasfeo/blob/master/CMakeLists.txt#L94



# Macro level (code size vs performance in assembly kernels): 0 (no macro),
# 1 (all macro but gemm kernel), 2 (all macro)
set(MACRO_LEVEL 1)

# Use C99 extension to math library
set(USE_C99_MATH ON CACHE BOOL "Use C99 extension to math library")

# Compile auxiliary functions with external dependencies
# (for memory allocation and printing)
set(EXT_DEP ON CACHE BOOL "Compile external dependencies in BLASFEO")

# Options
# enable runtine checks
set(RUNTIME_CHECKS OFF)

# set(BLASFEO_TESTING ON CACHE BOOL "Tests enabled")
set(BLASFEO_TESTING OFF CACHE BOOL "Tests disabled")

# set(BLASFEO_BENCHMARKS ON CACHE BOOL "Benchmarks enabled")
set(BLASFEO_BENCHMARKS OFF CACHE BOOL "Benchmarks disabled")

This flag allows the use of some additional routines for printing and memory allocation, which are not strictly necessary and can be safely removed.
This should already fix most of your issues.

If a few are still there, it should be easy for you to go though the source code and replace e.g. missing headers with the ones provided by your embedded toolchain, or comment out print-and-exit for not-yet-implemented routines (which are most likely not used anyway in HPIPM/acados).
Again, the core of BLASFEO with generic target is essentially self contained C code.

Cheers,

Gianluca