Stateflow User's Guide Getting Started What Is Stateflow? How Stateflow Works Stateflow Works with Simulink Stateflow Represents Control Modes with States Stateflow Changes Active States with Transitions Stateflow Reacts to Events Stateflow Chooses Destinations with Junctions Stateflow Uses Data Variables Watching Stateflow Execute During Simulation Generating C Code for Targets Simulation Targets Real-Time Workshop Targets Custom Targets Ways That You Can Use Stateflow Before You Get Started Required User Knowledge Level Required and Optional Software Stateflow Installation Setting Up Your Own Target Compiler Using Stateflow on a Laptop Computer Controlling with States and Transitions Building an On-Off Control Model Creating a Simulink Model with a Stateflow Block Saving a Simulink Model Opening the Diagram for a Stateflow Block Drawing States in Stateflow Diagrams Drawing Transitions in a Stateflow Diagram Adding a Trigger Event to the Stateflow Diagram Sending a Trigger Event to the Stateflow Chart Simulating a Stateflow Diagram Setting Up Diagram Simulation Simulating a Stateflow Diagram Using the Debug Tool During Simulation Guarding Transitions with Event Triggers Adding Event Triggers to Transitions Adding Multiple Trigger Events to a Stateflow Chart Sending Multiple Trigger Events to a Stateflow Chart Modifying Output Data with Actions Adding State Entry Actions Adding Output Data to the Stateflow Chart Sending Stateflow Output Data to Simulink Simulating Event Triggers and Modified Output Data Controlling with Junctions Adding a Sensor to the Model Adding a Sensor Event Adding Sensor Data Adding a Junction for Flow Control Deleting, Copying, and Renaming Stateflow Objects Adding and Connecting Junctions Entering Transition Conditions Adding a Graphical Function for Convenience Adding a Graphical Function Calling a Graphical Function Simulating with a Sensor Event, Junction, and Function Simulating Junction Behavior Introducing Stateflow Semantics Using Junctions in Flow Diagrams Controlling with Superstates Adding Superstates to Simplify Control Adding a Superstate Simulating the Superstate Adding a History Junction to Save State Adding a History Junction to a Superstate Simulating with a History Junction Creating Subcharts to Add More Substates Converting a State to a Subchart Simulating a Subchart Controlling Objects with Parallel Superstates Creating Exclusive States Creating Parallel States Simulating Parallel States Stateflow in Simulink Controlling a Physical Plant The Bang-Bang Boiler Demo Where to Go from Here Examples Using Stateflow Stateflow Concepts Finite State Machine Concepts What Is a Finite State Machine? Finite State Machine Representations Stateflow Representations Notation Semantics References Stateflow and Simulink The Simulink Model and the Stateflow Machine Stateflow Data Dictionary of Objects Defining Stateflow Interfaces to Simulink Stateflow Diagram Objects States Transitions Default Transitions Events Data Conditions History Junction Actions Connective Junctions Stateflow Hierarchy of Objects Exploring a Real-World Stateflow Application Overview of the "fuel rate controller" Model Control Logic of the "fuel rate controller" Model Simulating the "fuel rate controller" Model Stateflow Notation Overview of Stateflow Objects Graphical Objects Nongraphical Objects The Stateflow Data Dictionary of Objects States What Is a State? State Hierarchy State Decomposition State Labels Transitions What Is a Transition? Transition Hierarchy Transition Label Notation Valid Transitions Transition Connections Transitions to and from Exclusive (OR) States Transitions to and from Junctions Transitions to and from Exclusive (OR) Superstates Transitions to and from Substates Self-Loop Transitions Inner Transitions Default Transitions What Is a Default Transition? Drawing Default Transitions Labeling Default Transitions Default Transition Examples Connective Junctions What Is a Connective Junction? Flow Diagram Notation with Connective Junctions History Junctions What Is a History Junction? History Junctions and Inner Transitions Boxes Graphical Functions Stateflow Semantics Executing an Event Sources for Stateflow Events Processing Events Executing a Chart Executing an Inactive Chart Executing an Active Chart Executing a Transition Transition Flow Graph Types Executing a Set of Flow Graphs Transition Testing Order Implicit Order Mode Explicit Order Mode Entering, Executing, and Exiting a State Entering a State Executing an Active State Exiting an Active State State Execution Example Early Return Logic for Event Broadcasts Semantic Examples Transitions to and from Exclusive (OR) States Examples Label Format for a State-to-State Transition Example Transitioning from State to State with Events Example Transitioning from a Substate to a Substate with Events Example Condition Action Examples Condition Action Example Condition and Transition Actions Example Condition Actions in For Loop Construct Example Condition Actions to Broadcast Events to Parallel (AND) States Example Cyclic Behavior to Avoid with Condition Actions Example Default Transition Examples Default Transition in Exclusive (OR) Decomposition Example Default Transition to a Junction Example Default Transition and a History Junction Example Labeled Default Transitions Example Inner Transition Examples Processing Events with an Inner Transition in an Exclusive (OR) State Example Processing Events with an Inner Transition to a Connective Junction Example Inner Transition to a History Junction Example Connective Junction Examples Label Format for Transition Segments Example If-Then-Else Decision Construct Example Self-Loop Transition Example For Loop Construct Example Flow Diagram Notation Example Transitions from a Common Source to Multiple Destinations Example Transitions from Multiple Sources to a Common Destination Example Transitions from a Source to a Destination Based on a Common Event Example Backtracking Behavior in Flow Graphs Example Event Actions in a Superstate Example Parallel (AND) State Examples Event Broadcast State Action Example Event Broadcast Transition Action with a Nested Event Broadcast Example Event Broadcast Condition Action Example Directed Event Broadcasting Examples Directed Event Broadcast Using send Example Directed Event Broadcasting Using Qualified Event Names Example Creating Stateflow Chart Diagrams Creating a Stateflow Chart Creating States in Stateflow Charts Creating a State Moving and Resizing States Creating Substates and Superstates Grouping States Specifying Substate Decomposition Specifying Activation Order for Parallel States Changing State Properties Labeling States Outputting State Activity to Simulink Creating Transitions in Stateflow Charts Creating a Transition Creating Straight Transitions Labeling Transitions Moving Transitions Changing Transition Arrowhead Size Creating Self-Loop Transitions Creating Default Transitions Changing Transition Properties Creating Flowcharts with Connective Junctions Creating a Connective Junction Changing Connective Junction Size Changing Junction Properties Using the Stateflow Editor Stateflow Diagram Editor Window Displaying the Context Menu for Objects Specifying Colors and Fonts Selecting and Deselecting Objects Cutting and Pasting Objects Copying Objects Editing Object Labels Viewing Stateflow Objects in the Model Explorer Zooming a Diagram Undoing and Redoing Editor Operations Keyboard Shortcuts for Stateflow Diagrams Extending Stateflow Chart Diagrams Using History Junctions to Extend Charts and States Creating a History Junction Changing History Junction Size Changing History Junction Properties Using Subcharts to Extend Charts What Is a Subchart? Creating a Subchart Manipulating Subcharts as Objects Opening a Subchart Editing a Subchart Navigating Subcharts Using Supertransitions to Extend Transitions What Is a Supertransition? Drawing a Supertransition Into a Subchart Drawing a Supertransition Out of a Subchart Labeling Supertransitions Extending Transitions with Smart Behavior Setting Smart Behavior in Transitions What Smart Transitions Do What Nonsmart Transitions Do Using Functions to Extend Actions Creating a Function Programming Functions Defining Function Data Calling Functions in Stateflow Exporting Functions Specifying Function Properties Using Boxes to Extend Chart Diagrams Creating a State Changing a State to a Box Using Boxes in Stateflow Using Notes to Extend Chart Diagrams Creating Notes Editing Existing Notes Changing Note Font and Color Moving Notes Deleting Notes Reporting Chart Diagrams Printing and Reporting on Stateflow Charts Generating a Model Report in Stateflow Printing the Current Stateflow Diagram Printing a Stateflow Book Defining Events and Data Adding Events Adding Events in the Stateflow Diagram Editor Adding Events in the Model Explorer Setting Event Properties in the Event Dialog Sharing Events with Simulink Defining Input Events Associating Input Events with Control Signals Defining Output Events Associating an Output Event with an Output Port Sharing Events with Stateflow External Code Exporting Events to Stateflow External Code Importing Events from Stateflow External Code Defining Implicit Events Referencing Implicit Events Example of an Implicit Event Adding Data Adding Data to the Data Dictionary Defining Temporary Data Setting Data Properties in the Data Dialog Setting General Data Properties Setting Value Attribute Data Properties Setting Description Data Properties Sharing Stateflow Data with Simulink and MATLAB Sharing Input and Output Data with Simulink Resolving Signal Objects for Output Data Bringing Simulink Parameters into Stateflow Initializing Data from the MATLAB Base Workspace Saving Data to the MATLAB Workspace Sharing Data with Stateflow External Code Exporting Data to External Stateflow Code Importing Data from External Stateflow Code Typing Stateflow Data Selecting Stateflow Data Types Inheriting Input and Output Data Type from Simulink Typing Data by Using the Type of Other Data Typing Data by Using an Alias Sizing Stateflow Data Inheriting Input and Output Data Size from Simulink Sizing Data by Expression Using Actions in Stateflow Defining Action Types State Action Types Transition Action Types Example of Action Type Execution Using Operations in Actions Binary and Bitwise Operations Unary Operations Unary Actions Assignment Operations Pointer and Address Operations Type Cast Operations Using Special Symbols in Actions Comment Symbols Hexadecimal Notation Symbols Infinity Symbol, inf Line Continuation Symbol, ... Literal Code Symbol, $ MATLAB Display Symbol, ; Single-Precision Floating-Point Number Symbol, F Time Symbol, t Calling C Functions in Actions Calling C Library Functions Calling the abs Function Calling min and max Functions Calling User-Written C Code Functions Using MATLAB Functions and Data in Actions ml Namespace Operator ml Function ml Expressions Which ml Should I Use? ml Data Type Inferring Return Size for ml Expressions Using Data and Event Arguments in Actions Using Arrays in Actions Array Notation Arrays and Custom Code Broadcasting Events in Actions Event Broadcasting Directed Event Broadcasting Using Temporal Logic in Actions Rules for Using Temporal Logic Operators after Temporal Logic Operator before Temporal Logic Operator at Temporal Logic Operator every Temporal Logic Operator Conditional and Event Notation Temporal Logic Events Using Bind Actions to Control Function-Call Subsystems Binding a Function-Call Subsystem Simulating a Bound Function-Call Subsystem Using Stateflow Logic with Binding Avoiding Muxed Trigger Events with Binding Using Fixed-Point Data in Stateflow What Is Fixed-Point Data? Fixed-Point Numbers Fixed-Point Operations Using Fixed-Point Data in Stateflow How Stateflow Defines Fixed-Point Data Specifying Fixed-Point Data in Stateflow Fixed-Point Context-Sensitive Constants Tips for Using Fixed-Point Data in Stateflow Overflow Detection for Fixed-Point Types Sharing Fixed-Point Data with Simulink Fixed-Point "Bang-Bang Control" Example Opening the Fixed-Point "Bang-Bang Control" Example Exploring the Fixed-Point "Bang-Bang Control" Example Operations with Fixed-Point Data Supported Operations with Fixed-Point Operands Promotion Rules for Fixed-Point Operations Assignment (=, :=) Operations Fixed-Point Conversion Operations Autoscaling of Stateflow Fixed-Point Defining Interfaces to Simulink and MATLAB Overview of Stateflow Interfaces Stateflow Interfaces Typical Tasks to Define Stateflow Interfaces Where to Find More Information on Events and Data Specifying Chart Properties Setting Properties for Individual Charts Setting Properties for All Charts in the Model Setting the Stateflow Block Update Method Implementing Simulink Update Interfaces Defining a Triggered Stateflow Block Defining a Sampled Stateflow Block Defining an Inherited Stateflow Block Defining a Continuous Stateflow Block Defining Function Call Output Events Defining Edge-Triggered Output Events Creating Chart Libraries MATLAB Workspace Interfaces Examining the MATLAB Workspace in MATLAB Interfacing the MATLAB Workspace in Stateflow Interface to External Sources Exported Events Imported Events Exported Data Imported Data Truth Table Functions What Is a Truth Table? Building a Simulink Model with a Stateflow Truth Table Creating a Simulink Model Creating a Stateflow Truth Table Calling a Truth Table in a Stateflow Action Creating Truth Table Data in Stateflow and Simulink Programming a Truth Table Opening a Truth Table for Editing Entering Truth Table Conditions Entering Truth Table Decisions Entering Truth Table Actions Assigning Truth Table Actions to Decisions Adding Initial and Final Actions Debugging a Truth Table Checking Truth Tables for Errors Specifying a Breakpoint for the Call to a Truth Table Debugging a Truth Table During Simulation Options for Assigning Actions to Decisions in Truth Tables Truth Table Editor Operations Truth Table Editor Reference Searching and Replacing in Truth Tables Using Row and Column Tooltip Identifiers Correcting Over- and Underspecified Truth Tables Defining an Overspecified Truth Table Defining an Underspecified Truth Table Model Coverage for Truth Tables How Stateflow Realizes Truth Tables Viewing the Graphical Function for a Truth Table How Stateflow Generates Graphical Functions for Truth Tables Using Embedded MATLAB Functions Introduction to Embedded MATLAB Functions Building a Simulink Model with a Stateflow Embedded MATLAB Function Programming a Stateflow Embedded MATLAB Function Debugging a Stateflow Embedded MATLAB Function Checking Embedded MATLAB Functions for Syntax Errors Run-Time Debugging for Embedded MATLAB Functions Model Coverage for an Embedded MATLAB Function Types of Model Coverage in Embedded MATLAB Functions Creating a Model with Embedded MATLAB Function Decisions Understanding Embedded MATLAB Function Model Coverage Building Targets Overview of Stateflow Targets What Is a Simulink RTW Target? What Is a Stateflow Target? How Do You Build a Target? How Does Stateflow Build into Targets? Adding a Stateflow Target Configuring a Simulation Target for Stateflow Configuring Real-Time Workshop for Stateflow Configuring Stateflow Blocks in Nonlibrary Models for Real-Time Workshop Configuring the Stateflow Blocks in Library Models for Real-Time Workshop Configuring a Custom Target in Stateflow Integrating Custom Code with Stateflow Targets Specifying Custom Code Options for Stateflow Targets Specifying Relative Paths for Custom Code Including Custom C++ Code Calling Graphical Functions from Custom Code Starting the Build Starting a Simulation Target Build Starting an RTW Target Build Parsing Stateflow Diagrams Calling the Stateflow Parser Parser Error Checking Parsing Diagram Example Resolving Event, Data, and Function Symbols Error Messages Parser Error Messages Code Generation Error Messages Compilation Error Messages Generated Files DLL Files Code Files Makefiles Debugging and Testing Debugging with the Debugging Window Setting Breakpoints for Debugging Setting Error Checking in the Debugging Window Starting Simulation in the Debugging Window Controlling Animation in the Debugging Window Controlling the Execution Rate in the Debugging Window Setting the Output Display Pane Debugging Run-Time Errors Example Create the Model and Stateflow Diagram Debugging the Stateflow Diagram Correcting the Run-Time Error Debugging State Inconsistencies Causes of State Inconsistency Detecting State Inconsistency State Inconsistency Example Debugging Conflicting Transitions Detecting Conflicting Transitions Conflicting Transition Example Debugging Data Range Violations Detecting Data Range Violations Data Range Violation Example Debugging Cyclic Behavior Cyclic Behavior Example Flow Cyclic Behavior Not Detected Example Noncyclic Behavior Flagged as a Cyclic Example Watching Data Values with Debuggers Watching Data in the Stateflow Debugger Watching Stateflow Data in MATLAB Monitoring Stateflow Test Points Setting Test Points for Stateflow States and Local Data with Model Explorer Logging Data Values and State Activity Using a Floating Scope to Monitor Data Values and State Activity Understanding Model Coverage for Stateflow Charts Making Model Coverage Reports Specifying Coverage Report Settings Cyclomatic Complexity Decision Coverage Condition Coverage MCDC Coverage Coverage Reports for Stateflow Charts Colored Stateflow Diagram Coverage Display Exploring and Modifying Charts Using the Model Explorer with Stateflow Objects Viewing Stateflow Objects in the Model Explorer Editing States or Charts in the Model Explorer Adding Data and Events in the Model Explorer Adding a Target in the Model Explorer Renaming Objects in the Model Explorer Setting Properties for Stateflow Objects in the Model Explorer Moving and Copying Data, Events, and Targets in the Model Explorer Changing the Port Order of Input and Output Data and Events Deleting Data, Events, and Targets in the Model Explorer Using the Stateflow Search & Replace Tool Opening the Search & Replace Tool Using Different Search Types Specify the Search Scope Using the Search Button and View Area Specifying the Replacement Text Using the Replace Buttons Search and Replace Messages Using the Stateflow Finder Tool Opening Stateflow Finder Using Stateflow Finder Finder Display Area API Guide and Reference Using the Stateflow API Overview of the Stateflow API What Is the Stateflow API? Stateflow API Object Hierarchy Getting a Handle on Stateflow API Objects Using API Object Properties and Methods API References to Properties and Methods Quick Start for the Stateflow API Create a New Model and Chart Access the Model Object Access the Chart Object Create New Objects in the Chart Accessing the Properties and Methods of Objects Naming Conventions for Properties and Methods Using Dot Notation with Properties and Methods Using Function Notation with Methods Displaying Properties and Methods Displaying Properties Displaying the Names of Methods Displaying Property Subproperties Displaying Enumerated Values for Properties Creating and Destroying API Objects Creating Stateflow Objects Establishing an Object's Parent (Container) Destroying Stateflow Objects Accessing Existing Stateflow Objects Finding Objects Finding Objects at Different Levels of Containment Getting and Setting the Properties of Objects Copying Objects Accessing the Clipboard Object copy Method Limitations Copying by Grouping (Recommended) Copying Objects Individually Using the Editor Object Accessing the Editor Object Changing the Stateflow Display Entering Multiline Labels Creating Default Transitions Making Supertransitions Creating a MATLAB Script of API Commands API Properties and Methods by Use Reference Table Column Descriptions Access Methods Code Generation and Target Building Code Generation and Build Methods Code Generation Properties Custom Code Properties Display Control Display Methods Display Properties Graphical Appearance Color Properties Drawing Properties Font Properties Position Properties Text Properties Creating and Deleting Objects Containment Data Definition Properties Debugging Properties Identifiers Interface to Simulink Machine (Model) Identifier Properties Truth Table Construction Properties Utilities API Properties and Methods by Object Reference Table Columns Objectless Methods Constructor Methods Editor Properties Editor Methods Clipboard Methods All Object Methods Root Methods Machine Properties Machine Methods Chart Properties Chart Methods State Properties State Methods Box Properties Box Methods Graphical Function Properties Graphical Function Methods Truth Table Properties Truth Table Methods Embedded MATLAB Function Properties Embedded MATLAB Function Methods Note Properties Note Methods Transition Properties Transition Methods Junction Properties Junction Methods Data Properties Data Methods Event Properties Event Methods Target Properties Target Methods API Methods -- Alphabetical List build classhandle copy defaultTransitions delete dialog disp find generate get getCodeFlag help innerTransitions make methods outerTransitions outputData parse pasteTo rebuildAll regenerateAll set setCodeFlag sfclipboard sfexit sfhelp sfnew sfprint sfroot sfsave sfversion sourcedTransitions stateflow Stateflow.Box Stateflow.Data Stateflow.EMFunction Stateflow.Event Stateflow.Function Stateflow.Junction Stateflow.Note Stateflow.State Stateflow.Target Stateflow.Transition Stateflow.TruthTable struct up view zoomIn and zoomOut Stateflow Semantic Rules Summary for Stateflow Entering a Chart Executing an Active Chart Entering a State Executing an Active State Exiting an Active State Executing a Set of Flow Graphs Executing an Event Broadcast Glossary Release Notes Stateflow 6.2 and Stateflow Coder 6.2 Release Notes New Features User-Specified Transition Execution Order Stateflow and Embedded MATLAB Support Simulink Datatype Aliases Major Bug Fixes Upgrading from an Earlier Release Old API Scripts that Modify Custom Code Properties on Stateflow RTW Target Need Modification API Scripts Looking for Old Parameters Need to be Changed Custom Code Settings Not Copied from Simulation to RTW Target New Way to Bring Simulink Parameters Into Stateflow Chart Parented Temporary Data is Obsolete Stateflow Supports Directional Vectors Trailing 1's Removed After Second Dimension of Array Size Known Software Limitations Embedded MATLAB Function Block/Stateflow Dependencies Fixed-Point Override Limitations RTW Code Generation Fails for Charts with no Output Data Stateflow 6.1 and Stateflow Coder 6.1 Release Notes Major Bug Fixes Upgrading from an Earlier Release Old API Scripts that Modify Custom Code Properties on Stateflow RTW Target Need Modification API Scripts Looking for Old Parameters Need to be Changed Custom Code Settings Not Copied from Simulation to RTW Target New Way to Bring Simulink Parameters Into Stateflow Chart Parented Temporary Data is Obsolete Stateflow Supports Directional Vectors Trailing 1's Removed After Second Dimension of Array Size Known Software Limitations Embedded MATLAB Function Block/Stateflow Dependencies Fixed-Point Override Limitations RTW Code Generation Fails for Charts with no Output Data Stateflow 6.0 and Stateflow Coder 6.0 Release Notes New Features Multibyte Comment Characters in Generated Code Target Configuration Integration with Simulink and RTW Type Casting with cast and type Data and State Activity Logging Data Type and Size Inheritance From Simulink Data and State Monitoring with a Floating Scope Data Sized by Expression Parameter Scope for Simulink Parameters In Stateflow Obsolete Chart Parented Temporary Data Command Line Debugger in MATLAB Stateflow Boxes Parent Data Stateflow in the Model Explorer Writable Dirty Property for API Chart Object Fixed-Point Autoscaling of Stateflow Data Support for Directional Vectors Embedded MATLAB Functions Custom C++ Code Included with Stateflow Generated Code Object Descriptions in Generated Code for RTW Targets Matrix Inputs and Outputs for Graphical Functions Warnings for Missing Default Paths Unified Code Generation Settings for Simulink and Stateflow Faster Real-Time Workshop Code Generation Unified Identifier Naming Scheme in Generated Code Major Bug Fixes Additional Bug Fixes Upgrading from an Earlier Release API Scripts Looking for Old Parameters Need to be Changed Custom Code Settings Not Copied from Simulation to RTW Target New Way to Bring Simulink Parameters Into Stateflow Chart Parented Temporary Data is Obsolete Stateflow Supports Directional Vectors Trailing 1's Removed After Second Dimension of Array Size Known Software Limitations Embedded MATLAB Function Block/Stateflow Dependencies Fixed-Point Override Limitations Stateflow 5.1.2 and Stateflow Coder 5.1.2 Release Notes Major Bug Fixes Known Software and Documentation Problems Link to Known Problems List Additional Known Problems Stateflow 5.1.1 and Stateflow Coder 5.1.1 Release Notes New Features Bind Actions New API method idToHandle Major Bug Fixes Upgrading from an Earlier Release Code Generation Speed Improved Stateflow 5.1 and Stateflow Coder 5.1 Release Notes New Features Truth Tables New RTW/Custom Target Coder Options Major Bug Fixes Stateflow 5.0 and Stateflow Coder 5.0 Release Notes New Features Fixed-Point Data Undo Operation in the Stateflow Diagram Editor The Stateflow API Matrix Support for Data to and from Simulink New Model Report Available in Stateflow Any Chart or Library Chart Can Export a Function ml Data Type Array and Matrix Support for ml Namespace Operator and Function Call Stateflow Allows up to 254 Events User Comments Included in Generated Code For-Loops Emitted in Generated Code Enhanced Stateflow Integration with Real-Time Workshop Stateflow Explorer Remembers Its Position and Size Trailing "F" Specifier for Single Precision Floating-Point Numbers Graphical Function Inlining In Generated Code Stateflow Code Generation Improvements Unnecessary Data Initialization Removed Simple If Statements Optimized Major Bug Fixes Upgrading from an Earlier Release Warning on Loading Machines from Previous Stateflow Versions Error on Transition Action into Junction with Following Condition Action Stateflow 4.1 and Stateflow Coder 4.1 Release Notes New Features Stateflow New Features Stateflow Coder New Features Major Bug Fixes Stateflow Bug Fixes Stateflow Coder Bug Fixes Upgrading from an Earlier Release Transition Actions into Junctions Disallowed Warning on Loading Models from Previous Stateflow Versions Stateflow 4.0 and Stateflow Coder 4.0 Release Notes New Features Stateflow 4.0 New Features Stateflow Coder 4.1 New Features Upgrading from an Earlier Release Warning on Loading Models from Previous Stateflow Versions Printable Documentation (PDF) Product Page (Web)