S Function for real time target

Hi, I want to control NAO robots joints using simulink in real time . I took two approaches

• Writing code using S-Function builder
• Creating a dll file and calling it in S-Function

As a test, I just created a pointer to DCMProxy class. S Function builds but when compiling the model for real time target, error is generated which i have copied in file sbuildlog.txt in attachment.

Considering it to be a library confliction, I came up with the idea of enclosing the code in dll and simply calling the functions from S-Function. S-Function build successfully again however when building the model, i got the module not found error which can be seen in dllError.jpg in attachment.

I have already tested the dll using an exe file and it works. My Qs is

• is it possible to call a dll file in s function for real time compilation
• if, yes, since i am getting errors, is there something that i am missing on
• what could be the reason for MACHINE X86 errors when instatiating DCMProxy class in S-Function and how can they be avoided.

S-Function that instantiates a class:

S-Function that calls a dll:

[Kaustubha Govind]

Are you sure that rtwin.tlc is the right System Target File to be using?