sim

Simulink vehicle and controls simulation. The torque vectoring controller runs the firmware C++ code from Consolidated-Firmware through C Function blocks.

Requirements

• MATLAB R2025b with Simulink, Vehicle Dynamics Blockset, Simulink 3D Animation, DSP System Toolbox and Simscape Electrical
• Visual Studio 2022 with the "Desktop development with C++" workload
• CMake, Git, and the Python setup from the Consolidated-Firmware README

Setup

1. Clone this repo and Consolidated-Firmware side by side:

   Formula-Electric/
   ├── sim/
   └── Consolidated-Firmware/
   

2. Build the torque vectoring library (from Consolidated-Firmware/):

   cmake -S . -B build_fw_test_msvc -G "Visual Studio 17 2022" -A x64 -DPLATFORM=firmware -DTARGET=test -DUSE_COMMIT_INFO=MINIMAL
   cmake --build build_fw_test_msvc --target hexray_VC_torque_vectoring --config Debug
   

   The build folder must be named build_fw_test_msvc.

3. In MATLAB, run once per computer (from sim/):

   setup_firmware_path

   This stores your Consolidated-Firmware path and selects Visual C++ 2022 as the compiler. If the firmware repo is not next to sim/, it asks you for the folder.

4. Open driver_sim (driver in the loop) or controls_testing (scripted inputs) and run it. Keep sim/ as the MATLAB current folder. The first run is slow because the custom code compiles.

Day to day

Change	Then
Torque vectoring C++	Rebuild the library (step 2) and run the sim. If it still uses old code, delete slprj/.
A vehicle constant	Edit vehicle_params.m. Section 1 mirrors the firmware constants.hpp; keep both in sync.
tv_debug.h	Nothing. The model imports the bus types on every run.