2 * S-function to support analog outputs on Humusoft MF624 card
4 * Copyright (C) 2013 Michal Kreč <krecmich@fel.cvut.cz>
5 * Copyright (C) 2013 Michal Sojka <sojkam1@fel.cvut.cz>
7 * Department of Control Engineering
8 * Faculty of Electrical Engineering
9 * Czech Technical University in Prague (CTU)
11 * The S-Function for ERT Linux can be distributed in compliance
12 * with GNU General Public License (GPL) version 2 or later.
13 * Other licence can negotiated with CTU.
15 * Next exception is granted in addition to GPL.
16 * Instantiating or linking compiled version of this code
17 * to produce an application image/executable, does not
18 * by itself cause the resulting application image/executable
19 * to be covered by the GNU General Public License.
20 * This exception does not however invalidate any other reasons
21 * why the executable file might be covered by the GNU Public License.
22 * Publication of enhanced or derived S-function files is required
25 * Linux ERT code is available from
26 * http://rtime.felk.cvut.cz/gitweb/ert_linux.git
27 * More CTU Linux target for Simulink components are available at
28 * http://lintarget.sourceforge.net/
30 * sfuntmpl_basic.c by The MathWorks, Inc. has been used to accomplish
31 * required S-function structure.
36 * You must specify the S_FUNCTION_NAME as the name of your S-function
37 * (i.e. replace sfuntmpl_basic with the name of your S-function).
40 #define S_FUNCTION_NAME sfAnalogOutput
41 #define S_FUNCTION_LEVEL 2
43 #define CHNL_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0)))
46 * Need to include simstruc.h for the definition of the SimStruct and
47 * its associated macro definitions.
50 #include "mf624_SIMULINK.h"
55 * You should use the following technique to report errors encountered within
58 * ssSetErrorStatus(S,"Error encountered due to ...");
61 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
62 * It cannot be a local variable. For example the following will cause
63 * unpredictable errors:
67 * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"}
68 * sprintf(msg,"Error due to %s", string);
69 * ssSetErrorStatus(S,msg);
73 * See matlabroot/simulink/src/sfuntmpl_doc.c for more details.
76 /*====================*
77 * S-function methods *
78 *====================*/
80 /* Function: mdlInitializeSizes ===============================================
82 * The sizes information is used by Simulink to determine the S-function
83 * block's characteristics (number of inputs, outputs, states, etc.).
85 static void mdlInitializeSizes(SimStruct *S)
87 /* See sfuntmpl_doc.c for more details on the macros below */
89 ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
90 if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
91 /* Return if number of expected != number of actual parameters */
95 ssSetNumContStates(S, 0);
96 ssSetNumDiscStates(S, 0);
98 if (!ssSetNumInputPorts(S, 1)) return;
99 ssSetInputPortWidth(S, 0, 1);
100 ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
102 * Set direct feedthrough flag (1=yes, 0=no).
103 * A port has direct feedthrough if the input is used in either
104 * the mdlOutputs or mdlGetTimeOfNextVarHit functions.
105 * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
107 ssSetInputPortDirectFeedThrough(S, 0, 1);
109 if (!ssSetNumOutputPorts(S, 0)) return;
111 ssSetNumSampleTimes(S, 1);
116 ssSetNumNonsampledZCs(S, 0);
118 /* Specify the sim state compliance to be same as a built-in block */
119 ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
126 /* Function: mdlInitializeSampleTimes =========================================
128 * This function is used to specify the sample time(s) for your
129 * S-function. You must register the same number of sample times as
130 * specified in ssSetNumSampleTimes.
132 static void mdlInitializeSampleTimes(SimStruct *S)
134 ssSetSampleTime(S, 0, -1);
135 ssSetOffsetTime(S, 0, 0.0);
141 #define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
142 #if defined(MDL_INITIALIZE_CONDITIONS)
143 /* Function: mdlInitializeConditions ========================================
145 * In this function, you should initialize the continuous and discrete
146 * states for your S-function block. The initial states are placed
147 * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
148 * You can also perform any other initialization activities that your
149 * S-function may require. Note, this routine will be called at the
150 * start of simulation and if it is present in an enabled subsystem
151 * configured to reset states, it will be call when the enabled subsystem
152 * restarts execution to reset the states.
154 static void mdlInitializeConditions(SimStruct *S)
157 #endif /* MDL_INITIALIZE_CONDITIONS */
161 #define MDL_START /* Change to #undef to remove function */
162 #if defined(MDL_START)
163 /* Function: mdlStart =======================================================
165 * This function is called once at start of model execution. If you
166 * have states that should be initialized once, this is the place
169 static void mdlStart(SimStruct *S)
171 if (mf624_init(NULL) != 0)
174 //ssSetPWorkValue(S, 0, mfst);
176 #endif /* MDL_START */
180 /* Function: mdlOutputs =======================================================
182 * In this function, you compute the outputs of your S-function
185 static void mdlOutputs(SimStruct *S, int_T tid)
187 const real_T *u = (const real_T*) ssGetInputPortSignal(S,0);
188 //mf624_state_t* mfst = ssGetPWorkValue(S,0);
191 if (mf624_check(S) != 0)
201 out = (int) ((u[0] + 10) * 8192 / 10 + 0.5);
203 mf624_write16(out, MFST2REG(mfst, 2, dac_channel2reg[(int)CHNL_PRM(S)-1]));
208 #define MDL_UPDATE /* Change to #undef to remove function */
209 #if defined(MDL_UPDATE)
210 /* Function: mdlUpdate ======================================================
212 * This function is called once for every major integration time step.
213 * Discrete states are typically updated here, but this function is useful
214 * for performing any tasks that should only take place once per
217 static void mdlUpdate(SimStruct *S, int_T tid)
220 #endif /* MDL_UPDATE */
224 #define MDL_DERIVATIVES /* Change to #undef to remove function */
225 #if defined(MDL_DERIVATIVES)
226 /* Function: mdlDerivatives =================================================
228 * In this function, you compute the S-function block's derivatives.
229 * The derivatives are placed in the derivative vector, ssGetdX(S).
231 static void mdlDerivatives(SimStruct *S)
234 #endif /* MDL_DERIVATIVES */
238 /* Function: mdlTerminate =====================================================
240 * In this function, you should perform any actions that are necessary
241 * at the termination of a simulation. For example, if memory was
242 * allocated in mdlStart, this is the place to free it.
244 static void mdlTerminate(SimStruct *S)
246 //mf624_state_t* mfst = ssGetPWorkValue(S,0);
247 if (mf624_check(NULL) != 0)
250 /*At the end of simulation disable D/A outputs*/
251 mf624_write32((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg))
252 & ~GPIOC_DACEN_mask), // disable output,
253 MFST2REG(mfst, 0, GPIOC_reg));
259 /*======================================================*
260 * See sfuntmpl_doc.c for the optional S-function methods *
261 *======================================================*/
263 /*=============================*
264 * Required S-function trailer *
265 *=============================*/
267 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
268 #include "simulink.c" /* MEX-file interface mechanism */
270 #include "cg_sfun.h" /* Code generation registration function */