doc: Update Simulink Model Options section

- Make figures floating.
- Mention how to set custom C compiler flags.

diff --git a/doc/rpp_simulink.tex b/doc/rpp_simulink.tex
index 43ddc0f5b05102fb6f0b300663ba47bf1bc25640..3d3358292701febda75eaf530a8a919d3961c477 100644 (file)
--- a/doc/rpp_simulink.tex
+++ b/doc/rpp_simulink.tex
@@ -2082,29 +2082,49 @@ Target.
 The Simulink model needs to be configured in the following way:
 
 \begin{compactitem}
-\item Solver:
+\item Solver (Figure~\ref{fig:solver}):
  \begin{compactitem}
- \item \textit{fixed-step discrete}.
- \item Tasking mode set to \textit{SingleTasking}. \newline{}
-\noindent\includegraphics[width=400px]{images/simulink_solver.png}
-\newpage
+ \item Options: \emph{Fixed-step, discrete}
+ \item Tasking mode set to \textit{SingleTasking}.
+   \begin{figure}
+     \centering
+     \includegraphics[width=400px]{images/simulink_solver.png}
+     \caption{Solver settings}
+ \label{fig:solver}
+\end{figure}
  \end{compactitem}
-\item Diagnostics -- Sample Time:
+\item Diagnostics $\rightarrow$ Sample Time (Figure~\ref{fig:sample-time-settings}):
  \begin{compactitem}
  \item Disable warning source block specifies -1 sampling time. It's ok for the source blocks to run
-   once per tick. \newline{}
-\noindent\includegraphics[width=400px]{images/simulink_diagnostics.png}
+   once per tick.
+   \begin{figure}
+     \centering
+     \includegraphics[width=400px]{images/simulink_diagnostics.png}
+     \caption{Sample Time settings}
+ \label{fig:sample-time-settings}
+\end{figure}
  \end{compactitem}
-\item Code generation:
+\item Code generation (Figure~\ref{fig:code-gen-settings}):
  \begin{compactitem}
- \item Set to \texttt{rpp.tlc}. \newline{}
-\noindent\includegraphics[width=400px]{images/simulink_code.png}
+ \item Set to \texttt{rpp.tlc}.
+   \begin{figure}
+     \centering
+     \includegraphics[width=400px]{images/simulink_code.png}
+     \caption{Code Generation settings}
+ \label{fig:code-gen-settings}
+\end{figure}
  \end{compactitem}
 \end{compactitem}
 
 Note: Single Tasking is the only currently supported mode. If multitasking is required to be
       implemented in the future create a new file \texttt{rpp\_mrmain.tlc} in \texttt{\repo/rpp/rpp/} and
-      edit \texttt{rpp\_file\_process.tlc} to use that file instead when multitasking is selected.
+      edit \texttt{rpp\_file\_process.tlc} to use that file instead
+      when multitasking is selected.
+
+      To specify custom C compiler options, use OPTS variable in
+      \emph{Make command} at \emph{Code Generation} tab (see
+      Figure~\ref{fig:code-gen-settings}). For example
+      \verb|make_rtw OPTS="-O0 -g"|.
 
 \hypertarget{rpp_target_options}{}
 \subsubsection{RPP Target options}