Generate FMU from C/C++ Code Using S-Function Builder

R2026b

This example shows how to generate a Functional Mock-up Unit (FMU) that is compatible with FMI 3.0 standards from your C/C++ code using the S-Function Builder. Use S-Function Builder to integrate your existing C/C++ code into Simulink^®. You can then generate an FMU from the S-Function Builder block.

Generate FMU for First-Order Low Pass Filter

Open Model That Integrates C/C++ Code into Simulink

In this model, we integrate a C++ class that defines a first-order low pass filter into Simulink using an S-Function Builder.

The filter is defined by the following equation,

$$H(s)=\left(\frac{{\omega }_{cutoff}}{s+{\omega }_{cutoff}}\right)$$,

where:

$${\omega }_{cutoff}$$ is the cutoff frequency

The filter can be represented in time domain using Tustin Bilinear transform as,

$$y_k=\left(\frac{1-\alpha }{1+\alpha }\right)y_{k-1}+\left(\frac{\alpha }{1+\alpha }\right)\left[u_k+u_{k-1}\right]$$,

$$\alpha =\left(\frac{{\omega }_{cutoff}{T}_s}{2}\right)$$,

where:

$$y_k$$ and $$y_{k-1}$$ are the filter outputs at the current and previous time steps

$$u_k$$ and $$u_{k-1}$$ are the filter inputs at the current and previous time steps

$$T_s$$ is the sample time

OutputBusDefinition; 
open_system("FirstOrderLowPassFilterSFunctionBuilder.slx");

Integrate C/C++ Code and Build S-Function

Define the first-order low pass filter using C++ code.

class FirstOrderLowPassFilter
{
   private:
      double cutoffFrequency;
      double sampleTime; 
      double previousOutput;
      double previousInput; 

   public: 
      FirstOrderLowPassFilter(double cutoffFrequency, double sampleTime);
      double computeFilterOutput(double input); 
};

Define the methods.

#include "FirstOrderLowPassFilter.hpp"

FirstOrderLowPassFilter::FirstOrderLowPassFilter(double cutoffFreq, double SampleTime)
{
    cutoffFrequency = cutoffFreq;
    sampleTime = SampleTime;
    previousInput = 0.0;
    previousOutput = 0.0; 
}


double FirstOrderLowPassFilter::computeFilterOutput(double input)
{
    double alpha = (3.14*cutoffFrequency*sampleTime);

    double output = ((1-alpha)/(1+alpha))*previousOutput + ((alpha)/(1+alpha))*(input + previousInput); 

    previousOutput = output;
    previousInput = input; 

    return output; 
}  

The model uses the S-Function Builder block to integrate this code into Simulink and implement the low pass filter. Specify the source and header files names and paths in the Libraries table of the S-Function Builder editor.

handle = getSimulinkBlockHandle("FirstOrderLowPassFilterSFunctionBuilder/S-Function Builder");
Simulink.SFunctionBuilder.add(handle,"LibraryItem","LibraryItemTag","INC_PATH",'LibraryItemValue',fullfile(pwd));
Simulink.SFunctionBuilder.add(handle,"LibraryItem","LibraryItemTag","SRC_PATH",'LibraryItemValue',fullfile(pwd));
Simulink.SFunctionBuilder.add(handle,"LibraryItem","LibraryItemTag","ENTRY","LibraryItemValue",'FirstOrderLowPassFilter.cpp');
Simulink.SFunctionBuilder.add(handle,"LibraryItem","LibraryItemTag","ENTRY","LibraryItemValue",'FirstOrderLowPassFilter.hpp');

The S-Function Builder code uses one PWork to store a pointer to the instantiated filter object. The S-Function Builder is configured to have one input and one output port. The input port receives the noisy signal. The output port is configured with a bus data type. The bus output signal gives the filtered and unfiltered signal. The sample time and cutoff frequency are set as parameters with units for the S-Function Builder.

Build the S-Function by clicking Build on the S-Function Builder editor toolstrip or run this code.

Simulink.SFunctionBuilder.build(handle);

Generating files: ###  'LowPassFilterSFcn.cpp' created successfully
Generating files: ###  'LowPassFilterSFcn_wrapper.cpp' created successfully
Generating files: ### Output folder is '/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792'
Generating files: ###  'LowPassFilterSFcn.tlc' created successfully
Generating files: ###  'LowPassFilterSFcn_bus.h' created successfully
Compiling: Compiling 'LowPassFilterSFcn.cpp' ....Please wait
### Using toolchain: GNU gcc/g++ | gmake (64-bit Linux)
### Creating '/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/SFBTemp/mex/LowPassFilterSFcn.mk' ...
### Building 'LowPassFilterSFcn': "/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/bin/glnxa64/gmake"  -j 4 -l 4 -f LowPassFilterSFcn.mk all
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -pthread -DMATLAB_MEX_FILE -DUSE_PUBLISHED_ONLY -DMATLAB_MEXCMD_RELEASE=R2018a -DMATLAB_DEFAULT_RELEASE=R2018a  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/simulink/include -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "LowPassFilterSFcn.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/LowPassFilterSFcn.cpp"
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -pthread -DMATLAB_MEX_FILE -DUSE_PUBLISHED_ONLY -DMATLAB_MEXCMD_RELEASE=R2018a -DMATLAB_DEFAULT_RELEASE=R2018a  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/simulink/include -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "LowPassFilterSFcn_wrapper.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/LowPassFilterSFcn_wrapper.cpp"
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -pthread -DMATLAB_MEX_FILE -DUSE_PUBLISHED_ONLY -DMATLAB_MEXCMD_RELEASE=R2018a -DMATLAB_DEFAULT_RELEASE=R2018a  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/simulink/include -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "FirstOrderLowPassFilter.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/FirstOrderLowPassFilter.cpp"
gcc -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -pthread -DMATLAB_MEX_FILE -DUSE_PUBLISHED_ONLY -DMATLAB_MEXCMD_RELEASE=R2018a -DMATLAB_DEFAULT_RELEASE=R2018a  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/simulink/include -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "c_mexapi_version.o" "/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/version/c_mexapi_version.c"
### Creating shared library "../../LowPassFilterSFcn.mexa64" ...
g++ -shared -Wl,--no-undefined -pthread -Wl,-rpath-link,/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/matlab/extern/bin/glnxa64 -Wl,-rpath-link,/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/matlab/extern/bin/glnxa64 -Wl,--version-script,LowPassFilterSFcn.def -o ../../LowPassFilterSFcn.mexa64 LowPassFilterSFcn.o LowPassFilterSFcn_wrapper.o FirstOrderLowPassFilter.o c_mexapi_version.o -Wl,--start-group -L/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/bin/glnxa64 -lmx -lmex -lMatlabDataArray  -Wl,--end-group
### Created: "../../LowPassFilterSFcn.mexa64"
### Successfully generated all binary outputs.
gmake: Nothing to be done for `all'.

Generate FMU from S-Function Builder

Use the Simulink.SFunctionBuilder.generateFMU function to generate FMU for the S-Function Builder block. For example, the following command generates a co-simulation FMU compatible with FMI 3.0 standards and adds a description for it.

Simulink.SFunctionBuilder.generateFMU(handle,'FMUType','CS','Description','FirstOrderLowPassFilter');

### Using toolchain: GNU gcc/g++ | gmake (64-bit Linux)
### Creating '/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/slprj/fmuWorkingDir/LowPassFilterSFcn.mk' ...
### Building 'LowPassFilterSFcn': "/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/bin/glnxa64/gmake"  -j 4 -l 4 -f LowPassFilterSFcn.mk all
gcc -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -DFMI_VERSION=3  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/rtw/c/src/rapid/fmu/fmi3 -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "fmi3Functions.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/slprj/fmuWorkingDir/fmi3Functions.c"
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -DFMI_VERSION=3  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/rtw/c/src/rapid/fmu/fmi3 -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "LowPassFilterSFcn.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/slprj/fmuWorkingDir/LowPassFilterSFcn.cpp"
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -DFMI_VERSION=3  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/rtw/c/src/rapid/fmu/fmi3 -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "LowPassFilterSFcn_wrapper.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/slprj/fmuWorkingDir/LowPassFilterSFcn_wrapper.cpp"
g++ -c -fwrapv -fPIC -Wno-error=incompatible-pointer-types -Wno-error=stringop-overflow -O0 -DFMI_VERSION=3  -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/rtw/c/src/rapid/fmu/fmi3 -I/mathworks/devel/bat/filer/batfs2566-0/Bdoc26b.3351752/build/runnable/matlab/extern/include -I/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792 -o "FirstOrderLowPassFilter.o" "/tmp/Bdoc26b_3351752_1255651/tpe24aae35/fmubuilder-ex40088792/FirstOrderLowPassFilter.cpp"
### Creating shared library "./LowPassFilterSFcn.so" ...
g++ -shared -Wl,--no-undefined -o ./LowPassFilterSFcn.so fmi3Functions.o LowPassFilterSFcn.o LowPassFilterSFcn_wrapper.o FirstOrderLowPassFilter.o -Wl,--start-group   -Wl,--end-group
### Created: "./LowPassFilterSFcn.so"
### Successfully generated all binary outputs.
gmake: Nothing to be done for `all'.
Packaging FMU: FMU 'LowPassFilterSFcn.fmu' created successfully.

Import and Simulate FMU in Simulink

Use the FMU Import block to import the generated FMU into a Simulink Model.

open_system("FirstOrderLowPassFilterFMU.slx");

The generated FMU has the same port, parameter, and unit configuration as specified in the S-Function Builder editor.

View and specify the parameters SampleTime and CutoffFrequency in the Parameters tab of the FMU Import block dialog box.

Simulate the model and observe the FMU output.

output = sim("FirstOrderLowPassFilterFMU.slx");
plotData = figure(1);
plot(output.yout{1}.Values,'-r','LineWidth',1.5);
hold on;
plot(output.yout{2}.Values,'--g','LineWidth',1.5);
legend('Filtered Signal','Noisy Signal');
xlabel('Time (s)');
ylabel('Signal Value');
grid minor;