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How to Cross-compile a Simulink Plugin in Windows for Linux

Question

Often, engineering teams have their entire developing workflow within the same OS environment (e.g. Windows). However, the final model needs to be able to run on different architectures.

When working within a Windows environment how can one Cross-compile a Simulink Plugin for a Linux architecture?

Solution

Introduction

These instructions show how to cross compile the example BodyCtrl_RTW.mdl plugin. The plugin compilation takes place in win64, but the final CM compilation happens in linux64. The examples use R2018a & CM10.2.2, but this can be any combination of CM10.2.2 or CM11.0.1 with a compatible Matlab version.

Make sure to backup any files that are been replaced in the installation directories. This can also be done by renaming the file (e.g. adding a .bak extension).

Please read the steps carefully. You can also skip some steps by downloading and adapting the resulting files.

Requirements

Windows CM installation
Windows Matlab installation
Linux CM installation
Modified cmplugutil.exe (provided in Required_files.zip)

Typical installation path for CM10.2.2

Linux: opt/ipg/carmaker/linux64-10.2.

Windows: C:/IPG/carmaker/win64-10.2.2

Step by step solution

In Windows

Step 1:

Copy necessary files from the Linux installation to the Windows installation:

include/MakeDefs.linux64
Matlab/R2018a/CarMaker_unix-linux64.tmf
Matlab R2018a /libmatsupp-linux64.a

Step 2:

Add the modified cmplugutil.exe that accepts "-a linux64" to the Windows installation:

copy cmplugutil.exe.CM10.2.2 from Required_files.zip
paste it in bin/cmplugutil.exe.CM10.2.2
rename it to cmplugutil.exe

Step 3:
Adapt MakeDefs.linux64:

Change installation directory and architecture
Define cross compilation toolchain for win architecture (in section “### compiler and linker options”)

Step 4:

Adapt CarMaker_unix-linux64.tmf:

Change installation directory to Windows
Resulting Files: Steps_1to4.zip (note that the folder tree structure is included)

Step 5:
Create a new Project folder (with BodyCtrl_RTW.mdl):

Open CM-GUI
set path to Project Folder (e.g. in C:\CM_Projects\CM10)
Select components:
- Source / Build Environment
- Simulink Coder (RTW) Examples

Step 6:
Build Plugin from BodyCtrl_RTW.mdl with Simulink Coder

In Matlab:
- Navigate to Project Folder\src (e.g. in C:\CM_Projects\CM10\src)
- Run "cmenv.m"
- Open "BodyCtrl_RTW.mdl"
- If a new model is created, select target architecture: linux64
In Simulink:
- Go to Model Settings > Code Generation > Template makefile:
  - Set to CarMaker_unix-linux64.tmf
- Go to Model Settings > Code Generation > CarMaker:
  - Deselect “Automatic ‘make’ in the project source directory” (this is done in step 10 in linux)
- Build (ctrl +B)
Resulting Files: Steps_1to6.zip

In Linux

Step 7:

Create a new Project folder: