Speedgoat Solutions and Use

1 © 2011 The MathWorks, Inc.

Speedgoat Solutions and Use

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What Engineers Want to Design:

Complex Products

What have these products in common?

All designed with the help of Speedgoat real-time target machines, and Simulink Real-Time

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Speedgoat at a glance Introduction to Speedgoat and the global sales network

Real-Time Simulation and Testing Introduction Simulink Real-Time™ and Speedgoat target machines are expressly designed to

work together to create real-time systems for desktop, lab, and field environments

Connect and interface with your hardware under test Gain access to all available I/O connectivity of your target machine via the

Speedgoat driver library, and leverage the power of multicore CPUs and FPGAs

Speedgoat target machines, I/O, and protocols Turnkey real-time target machines for office, lab, field, and in-vehicle use, and a

large portfolio of 150+ I/O modules

Characterization of your real-time target machine Specifying sample time, I/O, and protocol requirements for your application

Delivery, Setup, Commissioning, and Maintenance Speedgoat support and service offerings

Table of Contents


Speedgoat at a glance

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Highly specialized developer of Real-time target machines,

expressly designed to work with Simulink and Simulink Real-Time

Incorporated in 2007 by MathWorks employees

Average annual revenue growth rates of 45% since foundation

Over 2’000 Real-time target machines sold

Located in Bern, the Swiss capital, world-wide distribution network

Customers: 40% EMEA, 40% AMER, 20% APAC

About Speedgoat

Office Examples Impressions

from Bern

6

Word-Wide

Network APAC:

Distribution

Partners

AMER:

MathWorks

dedicated

Application

Engineers and

Overlay Sales

Reps

EMEA:

Speedgoat and

MathWorks

Sales Reps

and Application

Engineers

About Speedgoat Global Sales Network


Real-Time Simulation and Testing Introduction

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“Sometimes it’s nice to have

something that works … really

quick!”

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0 1 0 1 0 1

0 1 0 1 0 1

0 1 0 1 0 1

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Real-Time Simulation and Testing

Build, Run, and Test Real-Time Applications!

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Simulink Real-Time and Speedgoat’s real-time target

machine(s) together form a hard real-time system

Real-Time Simulation and Testing Always Real-Time

Execution

tied to the

wall clock

+

Reaction-time deterministic

Guaranteed by real-time

kernel on target computer

Hard real-time systems operate within the confines of a stringent

deadline. The application is considered to have failed if it does not

complete its function within the allotted sample time. Overruns can

however be allowed if required.

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Real-Time Simulation and Testing Applications

Aerospace

& Defense Automotive

Industrial A&M

Medical Devices

Energy Production

• Off-highway

• Heavy equipment

• Electric/hybrid

• Racing

• Research/concepts

• One-off products

• Advanced academic

• Subsystems

• UAVs

• Integration & iron birds




• Mechatronics / Robotics

• Power electronics

• Protocol-heavy

• Hearing aids

• Renewable energy




Industry

Lens

Controls DSP & Vision Systems

• Prototyping

• Closed-loop

• Sample- & small-frame-based

• Part of a larger controls application

• Simulink centric



• Rapid Control Prototyping (RCP)

• Hardware-In-the-Loop Simulation

(HIL)

• Functional separable units

• Proof of concept



Application

Lens

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Typical real-time simulation and testing tasks supported include:

Rapid Control Prototyping

DSP and Vision System Prototyping

Hardware-in-the-Loop (HiL) simulation

Real-Time Simulation and Testing Typical Tasks

Hybrid electric bus Hearing aid device Jet engine


Connect and interface with your

hardware under test and leverage the

power of CPUs and FPGAs

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Connect with your hardware under test

Drag & drop driver blocks for I/O modules installed

in target machine to your model

Connect I/O ports of driver blocks with your design

Speedgoat driver library Simulink model

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Connect with your hardware under test

Simulink model Configure I/O and protocols

settings through dialog fields

Automatically create and run

a real-time application from

your Simulink model on the

target machine

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Concurrent Execution, Distributed Systems

1. Accelerate real-time execution by leveraging powerful multi-core

CPUs through concurrent execution features of Simulink Real-

Time

2. Scale up performance by using multiple target machines,

connected via fiber optic link. Execution of multiple, synchronized

distributed models at lowest closed-loop sample rates

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CP

U2

CP

U1

1 2 speedgoat

real - time target machine

Shared

memory

fiber -

optical cable

speedgoat

real - time target machine

Shared

memory

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Create FPGA I/O and algorithmic subsystems

Requirements

HDL Coder and Xilinx ISE (Vivado) software

Speedgoat real-time target machine with installed

FPGA-based I/O module(s)

Fixed-point Simulink model

Key features

Very fast design iterations and verification and

validation of Simulink algorithms on FPGAs

Achieve closed-loop sample rates up to several MHz

by execution parts of your real-time application on

FPGA(s), eliminating PCI bus communication

Seamless workflow for concurrent execution of

model components on FPGAs mounted on I/O

modules also providing a broad range of I/O

Connect multiple FPGA-based I/O modules with

high-speed inter-module communication links

Example of FPGA-based I/O module

IO331 I/O module with IO331-6 front plug-in

- Spartan 6 with 147k logic cells and

fundamental clock rate of 75MHz

Powerful I/O connectivity

- 16 simultaneous analog inputs

- 8 analog outputs

- 64 digital 2.5 LVCMOS, or 3.3/5V TTL lines

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Key tasks

Design subsystems for FPGA

execution

Configure I/O communication using

Workflow Advisor, provided with

MathWorks’s HDL Coder

Integrate Speedgoat Netlists

(PWM generation and caputure,

encoder measurement ans

simulation, SPI, I2C,

synchronization, …)

Automatically generate HDL code for

the Simulink FPGA subsystems

Place the generated blackbox

subsystem to your main Simulink

model


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PWM Capture

FPGA Code Module

PWM Generation

FPGA Design


Demo – FPGA Model

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Select “Simulink Real-Time FPGA

I/O” workflow

Select the desired Speedgoat I/O

module

Map I/O of I/O module to input and

output ports of the FPGA subsystem

Generate HDL Code and perform

synthesis and analysis using Xilinx

ISE (provided with Xilinx Vivado

Design Suite)

Create FPGA bitstream and Simulink

driver block, acting as interface for

Simulink Real-Time

Workflow Advisor of HDL Coder


Demo – Workflow Advisor

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FPGA subsystem block of real-time

application running on IO331

Create FPGA I/O and algorithmic subsystems Demo – Workflow Advisor Results

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FPGA subsystem block of real-

time application running on IO331

Slider gains: tune

parameters during

real-time execution

Scopes and

displays to

monitor

signals

Multi-rate

concurrent

execution

Create FPGA I/O and algorithmic subsystems Demo – Simulink Real-Time model

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Simulink Real-Time provides flexible instrumentation to interface with the target computer and the running real-time application

Simulink Real-Time Explorer (host scopes)

Target display (target scopes)

Analysis of logged data (file scopes)

Simulink External Mode

MATLAB functions and objects for automation

Stand-alone User Interfaces (MATLAB UI, external APIs, 3rd party tools)

Reactive Automated Testing with TPT from Piketec

Manage and control multiple target machines simultaneously

Instrument your Real-Time Applications

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Manage and control Real-time target machines and applications

Graphical controls and displays to design and run instrument panels

Monitor signals using scopes, and log data on the fly

Tune parameters individually or as groups

Simulink Real-Time Explorer

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High-Resolution Target Display to Monitor and Control Signals

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Simulink

External

Mode

Data logging

MATLAB

scripts

Click to

Start

>> tg = xpc; % Create xPC Target object

>> tg.load('mct_xpcClosedLoop'); % Load application

>> tg.start; % Start application

>> Amp=tg.getparamid('Signal Generator', 'Amplitude');

>> tg.setparam(Amp,2) % Change Amplitude value

ans =

parIndexVec: 2

OldValues: 0.5000

NewValues: 2

>> tg.stop; % Stop application

>> plot(tg.TimeLog,tg.OutputLog(:,[1 2])) % Plot data


Versatile interfacing options

TPT from PikeTec

Reactive Automated Testing

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Creating Stand-Alone Applications and GUIs

Embed real-time applications

Simple: Simply select standalone mode

Normal mode: Target machine is connected to

development computer with Ethernet cable,

application parameters are dynamically tunable

during real-time runs

Standalone mode: Real-time application and

real-time kernel are combined to a single

executable. Applications starts at power-up of

target machine

Standalone User Interfaces

Run Simulink Real-Time Explorer in standalone

mode, or leverage C or .NET APIs

Royalty Free

One license, many target machines


Overview of Speedgoat target machines,

I/O, and protocol interface hardware

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Real-time target machines

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Turnkey Real-Time Target Machines for

office, lab, field, and in-vehicle use

Performance real-time

target machine

Office and lab

Mobile real-time

target machine

Field and in-vehicle use

Education real-time

target machine

Academic use

Audio real-time

target machine

Audio applications

Openframe real-time

target machine

Confined and harsh

environments

Modular real-time

target machine

cPCI/PXI-based solutions

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Performance real-time target machine

State-of-the-art Intel Core i7 3.5 GHz quad core

Intel CPU and optional Xilinx FPGA technology

Concurrent multicore, multi target, and FPGA

real-time application execution

Flexible expansion concept:

install 50+ I/O modules

Flexible mounting

and I/O access



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Application

ECU test bench for all-electric,

zero emission transit bus

The bus rapidly recharges at

on-route charging stations

2-3 hour range

Use Case – Proterra, USA User Story

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Mobile real-time target machine

Up to Intel Core i7 2.53 GHz

dual core CPU

Very robust and fanless design,

extended temperature support

Stack up: 1-4 layers with 3

PMC/XMC modules each

Two additional I/O slots for I/O modules in the mPCIe form factor

Over 200 I/O modules offering a very broad range of connectivity

Gigabit link for data exchange between FPGA-based I/O modules

Built-in support for EtherCAT Master, real-time UDP, and serial I/O

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Application

Development of world’s first hydraulic

regenerative active suspension

System recognizes and adapts to

driver behavior, acceleration, braking,

cornering, and road conditions

Energy-neutral operation

Use Case – Levant Power, USA User Story

GenShock shock absorber

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Performance real-time

target machine

Office and lab

Mobile real-time

target machine

Field and in-vehicle use

Education real-time

target machine

Academic use

Audio real-time

target machine

Audio applications

Openframe real-time

target machine

Confined and harsh

environments

Modular real-time

target machine

cPCI/PXI-based solutions

Attractive price tag

Industrial-grade solution to

study, teach, and research

Example: Position control (Bachelor thesis, FH Aalen,

Germany)



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I/O connectivity

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I/O connectivity

I/O Type Functionality Configurable

(FPGA)

Static

Analog A/D, D/A, frame support x x

Digital TTL, LVCMOS, LVDS, RS422, RS485 x x

Pulse train PWM generation and capture, interrupt, negation X

Encoders Absolute and incremental encoder (quadrature and SSI), EnDAT

2.2, SSI2, and BiSS encoder measurement and emulation

X

Video USB (Webcams), CameraLink x

LVDT/RVDT,

Synchro/ Resolver

LVDT, RVDT, Synchro, and Resolver measurement and

simulation

x

Shared memory Shared and reflective memory x

Temperature Thermocouple, RTD, and NTC measurement and simulation

Strain, pressure Strain gauges and pressure sensor measurement and simulation x

Accelerometers IEPE/ICP measurement x

Switching Resistor, potentiometer, reed relay (SPDT, DPST, SPST), and

fault insertion

x

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Protocol Functionality Configurable

(FPGA)

Static

SPI SPI Master, SPI Slave x

I2C I2C Master, I2C Slave x

CAN CAN, LIN, SAE J1939, CANopen x

Serial (UART) RS232, RS422, RS485, SDLC, HDLC x x

Ethernet Real-time UDP, Raw Ethernet, TCP/IP x

EtherCAT EtherCAT Master, EtherCAT Slave x

EtherNet/IP EtherNet/IP Scanner, EtherNet/IP Adapter x

Profibus, Profinet Profibus and Profinet Master and Slave x

Modbus Modbus TCP and RTU (Gateway) x

Aerospace ARINC429, MIL-STD-1553 x

XCP XCP over CAN and Ethernet x

FlexRay FlexRay x

Protocol interfaces


Specify functionality, select, and

maintain your Real-time target machine

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1. Deriving the fundamental sample time for a real-time

application

2. Software and hardware considerations for different

sample time requirements

Characterization of Physical Systems

Under Test

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Time constants (how quickly a system responds)

derived from domain knowledge or system analysis

Step or impulse response (linear or linearized; non-linear)

Time constant is ~37% of the time it takes to reach steady-state

Sample time of real-time application: 1/10 to 1/20 of (smallest) time

constant for quasi-continuous behavior (allows for continuous

states at fundamental sample time and higher-order integration

algorithms)

Discrete real-time application (controller) design might increase

sample time

Eigenvalues of a linearized system around an operational point

Deriving the fundamental sample time

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Defined by application or a standard.

Example:

Audio (sound) sample frequency standard 44.10 kHz

Reduced bandwith for hearing aid (voice) 22.05 kHz

= sample time 45.35us


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Derived from simulation/linearization of ‘plant’ model.

Requires (benefits from) a Simulink model of the physical (dynamic)

system (plant)

– Model complexity dependent on required fidelity level

Stimuli-response simulations -> time constants

Linearization and obtaining state-space description around operational

point with Simulink Control Design

– Eigenvalues lead to time constant(s)

Apply again “1/10 to 1/20 of time constant” rule to derive fundamental

sample time for real-time application

– For quasi-continuous behavior

Study and verify sampling behavior with Simulink model

Existing ‘plant’ model facilitates HIL simulation and testing


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Sample rate ranges, SW/HW considerations

A 1 ms…

Usually of no concern, plenty of headroom

Watch out for «heavy» algorithms, mainly plant models

for real-time simulation described using physical

modeling blocks

B 250us … 1 ms

Usually of no concern for applications with analog and

digital I/O

Watch out for low-bandwidth protocol interface I/O like

asynchronous serial communication such as RS232

(115200 kb/s) or CAN (1Mb/s)

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C 50us .. 250 us

Microsecond granularity (interrupt latency) of multi-

tasking kernel becomes a factor

For all I/O and protocol interfaces connecting to the

physical system, latency calculations need to be

conducted

Mid-sidzed algorithms even if expressed with native

Simulink blocks might signifcantly impact computational

load

Headroom might shrink below the recommended 20%

Fast I/O modules for given I/O types, such as

simultaneous sampling analog input modules, might be

required

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D 15us .. 50 us

5us interrupt latency of Simulink Real-Time kernel

becomes an important factor

Fastest I/O module technology required. Example:

highest conversion-rate ADCs with simultaneous

sampling (one ADC per input channel), DMA acquisition

Any protocol interface at this sample time becomes an

issue – change these to different sample rates using

multi-rate modeling

I/O latency calculations are mandatory

Consider to outsource I/O and algorithmic sub-functions

to FPGAs

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E 0.01us …15us

Consider polling mode for simple controllers with few I/Os (>= 8us)

Run algorithms and I/O on FPGA subsystems

FPGA

I/O

Module


Specifying sample time, I/O, and protocol

requirements for a specific application

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Three example use cases

1. Rapid Controller Prototyping (RCP) for development and test of

control strategies for a hybrid drive concept

2. DSP System Prototyping of next generation hearing aid devices

3. Hardware in-the-loop (HIL) lab simulator for jet engine simulation

Specifying sample time, I/O, and protocol

requirements for a specific application

Hybrid electric bus Hearing aid device Jet engine

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Customer’s Vision

Development and test of control strategies for a hybrid

drive concept. The existing real-time setup is based on a

do-it-yourself hardware configuration. It is no longer

feasible to maintain real-time testing hardware in-house

because of the increasing complexity of the system.

Use case 1 – Hybrid electric bus

Hybrid electric bus

Customer’s Hardware requirements

In-vehicle use, only DC power supply available

Harsh environment, temperatures up to 50°C

Closed-loop sample rate of 1kHz, on-target data logging

CAN (J1939), and real-time UDP communication

Analog and digital connectivity

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Technical team at MathWorks and

Speedgoat takes care of your

requirements specification

Technical ales are available by email or

phone to answer your questions

Fill in your technical specifications to

the requirements worksheet

The worksheet is available for download

on the Speedgoat webpage

Use case 1 – Hybrid electric bus Receipt of Technical Specification/Application

Requirements worksheet

https://www.speedgoat.ch/Company/ContactUs.aspx

https://www.speedgoat.ch/Portals/0/xlsx/customersname_SimulinkRealTimeSolutionWorksheet.xlsx

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Technical Sales Engineers discuss requirements and prepare a specific

solution proposal for a real-time target machine

For this case, we propose:

– Mobile real-time target machine

– Robust SSD drive

– 1x IO101 for analog and digital

– 2x IO601 for CAN communication

– Extended temperature option for

all components

The customer receives the quotation, and a solution proposal document

outlining the technical aspects of the proposed hardware configuration

Use case 1 – Hybrid electric bus Custom Solution Proposal

The requirements worksheet document is a great common technical starting point

to work towards your tailored real-time testing solution!

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Technical Sales Engineers demonstrate

capabilities of the proposed solution

online, by phone, or on-site

Use case 1 – Hybrid electric bus Custom Solution Proposal

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Customer’s Vision

Development of next generation hearing aid devices. A flexible real-time

testing development platform is needed to quickly test new ideas on how to

optimize sound quality and at the same time reduce the power consumption

of the device. The system must deal with complex model algorithms and base

sample rates up to 20.48 kHz.


The highest performance real-time system for lab use

Frame-based sampling of high resolution analog channels

XLR panels for easy access of individual channels

Simulation of stereo audio channels at a later time

Use case 2 – Hearing aid devices Technical Specification/Application

Hearing aid device

DSP System Prototyping

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Solution

Performance real time target machine with the fastest Intel Core i7, quad-

core, 3.5GHz CPU

IO108 I/O module with 8 balanced, differential analog output channels,

dedicated D/A converter per channel and 16-bit resolution

IO109 I/O module with 12 differential analog input channels, simultaneous

sampling,

dedicated Sigma-Delta A/D converter and 24-bit resolution

Dedicated XLR Panels, mounted into portable, robust rack

Optional shared memory I/O modules to connect two target machines

Use case 2 – Hearing aid devices Solution Proposal

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Customer’s Vision

Simulation of complete jet engine to avoid having to develop expensive hardware prototypes, and to be able to continuously test controllers in the lab.


HIL lab system for engine simulation

Interface to engine controller through multiple simulation and measurement I/O points

Isolated digital I/O channels

Differential analog I/O channels

LVDT simulation

Encoder simulation

RTD simulation

Shared memory interface

Use case 3 – Engine simulation Technical Specification/Application

Jet engine

Hardware in-the-loop Simulation

Hardware under test:

FADEC, full authority

digital engine controller

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Solution

Use case 3 – Engine simulation Solution Proposal

Development/target computer Ethernet switch

6 LVDT Simulation channels (IO422)

Shared/Reflective Memory (IO902 )

FPGA 16 Encoder Emulation channels (IO312)

32 24V digital input channels (IO206)

32 24V/0.5A digital output channels (IO205)

16 DIFF 16-bit analog output channels (IO107)

32 SE/16 DIFF 16-bit analog input, 4 SE analog

output, 8 TTL digital input, 8 TTL digital

output channels (IO102)

RTD simulation (IO926)


Delivery, Setup, Commissioning,

and Maintenance

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Speedgoat team takes care to carefully

assemble, test, and deliver hardware to

your needs.

Delivery, Initial Setup and Acceptance

Testing

Engineering Services

Systems Engineering

Operations

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Systems Engineering

All Speedgoat real-time target machines are

assembled and tested at our facility – Optimized for your required MATLAB release

– Firmware upgrades and compatibility considerations

– Optimization of BIOS settings and interrupts

for all I/O modules

– Real-time kernel updates

Complete 24 hour system test of all I/O

connectivity to ensure fault-free operation and

best real-time performance


Testing

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Speedgoat Engineering Services

Speedgoat FPGA bitstreams – PWM signals

– Incremental/absoute encoders

– Protocol support

– Available for simulation and emulation

Driver development for custom I/O modules – Simulink driver blocks

– C/C++ driver blocks

– VHDL implementations

Advanced training / consulting services


Testing

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Operations

Typical lead time: 4 weeks after receipt of

purchase order. Shipping time: 1-2 days

Delivery via your preferred carrier

Option for partial delivery available


Testing

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Contents of delivery include:

Building, running, and testing your real-time

applications

Driver blocks Simulink test models Terminal boards I/O cables

Real-time target machine I/O modules installed in target machine

Documentation

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Software prerequisites

The following MathWorks software is minimally required:

MATLAB (32-bit or 64-bit)

Simulink

MATLAB Coder

Simulink Coder

Simulink Real-Time (xPC Target)

To build the generated code a compiler is required:

Microsoft Windows SDK 7.1 (available at no charge)

Microsoft Professional 2013, 2012, 2010 and 2008 compilers

See www.mathworks.com/support/compilers


applications

http://www.mathworks.com/support/compilers

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Simulink test model

The delivery includes a Simulink test model, prepared for the required

software release. This model contains Speedgoat driver blocks for all

available I/O connectivity and applies a loop-back test to ensure flawless

execution of the complete real-time testing hardware.


applications

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Hardware Warranty and Maintenance

Each Speedgoat real-time target machine is provided with flexible services

packages to protect your investments and ensure continuous maintenance

of your real-time system.

Long-term Supply

Expand your existing real-time hardware with

additional I/O modules / expansion chassis

Long-term availability of all hardware

components

Technical Support

Speedgoat support webpage

MathWorks support webpage

After sales engineering services available

Support, upgrades, and maintenance of

your Speedgoat target real-time system

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Mobileye, Jerusalem, Israel

Advanced Driver Assistance Systems, and

fully Autonomous Vehicles

In-vehicle Rapid Controller Prototyping

Proterra, Greenville, SC, USA

Zero-Emmission Battery Electric Bus

Hardware-in-the-Loop simulation

www.speedgoat.ch/userstories

AGCO, France/Germany/USA

Agricultural vehicles with most energy

efficient gearboxes

Hardware-in-the-loop simulation

User Story Examples - Developing Complex

Products meeting Future Demands

http://www.speedgoat.ch/userstories

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Support, upgrades, and maintenance of

your Speedgoat target real-time system

www.speedgoat.ch www.mathworks.com

http://www.speedgoat.ch/

http://www.mathworks.com/products/simulink-real-time

Speedgoat Solutions and Use

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