Model-Based Retargeting to Many-Core CPS: Simulink-to-OpenCL Workflow
This paper addresses the software portability gap between Model-Based Development (MBD) and advanced many-core execution for Cyber-Physical Systems (CPS). We present a workflow-preserving retargeting approach for Simulink-based CPS applications with candidate-wise data parallelism to OpenCL-based many-core processors. Rather than manually rewriting models for new platforms, our toolchain uses MathWorks GPU Coder to extract data-parallel CUDA code, which is then translated into OpenCL host and device code via a custom framework. The conversion handles syntax rewriting, API emulation, and platform-specific argument packing. We deployed this workflow for a computationally intensive Frenet-frame trajectory planner on the Kalray MPPA Coolidge2. The results demonstrate the feasibility of a workflow-preserving retargeting pipeline for the evaluated CPS workload and platform.