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TrueTime is a Matlab/Simulink-based simulator for real-time control systems. TrueTime facilitates co-simulation of controller task execution in real-time kernels, network transmissions, and continuous plant dynamics. Features of the simulator include

• Written in C++ MEX, event-based simulation
• External interrupts
• Possibility to write tasks as M-files or C++ functions. It is also possible to call Simulink block diagrams from within the code functions
• Network block (Ethernet, CAN, TDMA, FDMA, Round Robin, Switched Ethernet, FlexRay and PROFINET)
• Wireless network block (802.11b WLAN and 802.15.4 ZigBee)
• Battery-powered devices, Dynamic Voltage Scaling, and local clocks
• Stand-alone network interface blocks

News

• 2011-04-04
  Minor bugfixes in TrueTime 1.5 for the latest versions of Matlab
• 2010-07-16
  TrueTime 2.0 beta 6 has been released. Added support for Network Code Machine by Sebastian Fischmeister et al.
• 2010-06-10
  TrueTime Network for Modelica has been released. Two versions have been developed -- one based on an external C code implementation and one based on native Modelica. This work has been done within the ITEA 2 project EUROSYSLIB.
• 2010-05-06
  TrueTime 2.0 beta 5 has been released. Very minor changes to make TrueTime compile under Matlab R2009 and under Mac OS X. Note that precompiled MEX files are no longer supplied. The manual has been updated.
• 2009-10-15
  TrueTime 2.0 beta 4 has been released. A bug regarding empty error messages has been fixed; the soccer example has been updated and included; two more network protocols - FlexRay and PROFINET - have been added. WARNING: The new network protocols are experimental and are very likely to contain bugs.
• 2009-09-18
  TrueTime 2.0 beta 3 has been released. Bug fixes include network block random number generation under Windows, block masks, ttSetPeriod, and more. Network and AODV examples included. See the HISTORY file for a complete list of updates.
• 2009-05-11
  TrueTime 2.0 beta 2 has been released. A serious bug has been fixed that did not allow multiple kernel blocks within the same Simulink model. For further changes, see the HISTORY file.
• 2009-01-14
  TrueTime 2.0 beta 1 has been released. The most important change is that the simulator will be released under the GNU GENERAL PUBLIC LICENSE. Other changes include:
  • Automatic connections between Kernel and Network blocks
  • Improved configuration of the Kernel block via the mask dialogue
  • New syntax for several real-time primitives
  • New implementation of handlers
  • New Ultrasound Network block (for simulation of mobile robot localization)
  • Improved stand-alone network blocks to handle vector signals
  • Full built-in support for CBS scheduling
  • And much, much more.
  Please note that TrueTime 2.0 only exists in a beta version so far. Bugs are likely. So far, only four examples are included in the distribution. The manual needs to be updated further. Models developed in TrueTime 1.5 and earlier cannot be run in TrueTime 2.0 without some modifications.
• 2007-01-05
  TrueTime 1.5 has been released. The new version has dramatically improved performance in the network blocks and features new stand-alone network interface blocks (ttSendMsg/ttGetMsg).

Reference Manuals