Verification of embedded control systems by simulation and program execution control

This paper describes features and applications of a simulation framework for software-in-the-loop testing of realtime embedded control applications. The Validator tool performs time-functional simulation of control software and its execution platform in closed-loop with Simulink plant models. It is based on a discrete event simulator which executes the application software on a host platform and simulates the passage of time according to execution times of application code and communication times pertaining to a given embedded target. The Validator also simulates functional behavior of operating system services and hardware components at a level of abstraction that enables capturing significant timing aspects without executing detailed hardware models. We present use cases where the Validator is employed for evaluating integration of new control functions in existing systems, model refinement, and regression testing of automotive control software.