2 * S-function to support analog inputs 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.
35 * You must specify the S_FUNCTION_NAME as the name of your S-function
36 * (i.e. replace sfuntmpl_basic with the name of your S-function).
39 #define S_FUNCTION_NAME sfAnalogInput
40 #define S_FUNCTION_LEVEL 2
41 #define MASK_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0)))
44 * Need to include simstruc.h for the definition of the SimStruct and
45 * its associated macro definitions.
52 #include "mf624_SIMULINK.h"
59 * You should use the following technique to report errors encountered within
62 * ssSetErrorStatus(S,"Error encountered due to ...");
65 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
66 * It cannot be a local variable. For example the following will cause
67 * unpredictable errors:
71 * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"}
72 * sprintf(msg,"Error due to %s", string);
73 * ssSetErrorStatus(S,msg);
77 * See matlabroot/simulink/src/sfuntmpl_doc.c for more details.
80 /*====================*
81 * S-function methods *
82 *====================*/
84 /* Function: mdlInitializeSizes ===============================================
86 * The sizes information is used by Simulink to determine the S-function
87 * block's characteristics (number of inputs, outputs, states, etc.).
89 static void mdlInitializeSizes(SimStruct *S)
91 /* See sfuntmpl_doc.c for more details on the macros below */
93 ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
94 if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
95 /* Return if number of expected != number of actual parameters */
96 ssSetErrorStatus(S,"Parameter mismatch");
100 ssSetNumContStates(S, 0);
101 ssSetNumDiscStates(S, 0);
103 int ADCCMask = (int)MASK_PRM(S);
105 if(ADCCMask > 255 || ADCCMask < 0) {
106 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
109 int ADCChannels = __builtin_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
112 if (!ssSetNumInputPorts(S, 0)) return;
116 if (!ssSetNumOutputPorts(S, ADCChannels)) return;
117 for(i=0; i < ADCChannels;i++){
118 ssSetOutputPortWidth(S, i, 1);
120 ssSetNumSampleTimes(S, 1);
125 ssSetNumNonsampledZCs(S, 0);
127 /* Specify the sim state compliance to be same as a built-in block */
128 ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
137 /* Function: mdlInitializeSampleTimes =========================================
139 * This function is used to specify the sample time(s) for your
140 * S-function. You must register the same number of sample times as
141 * specified in ssSetNumSampleTimes.
143 static void mdlInitializeSampleTimes(SimStruct *S)
145 ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
146 ssSetOffsetTime(S, 0, FIXED_IN_MINOR_STEP_OFFSET);
152 #undef MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
153 #if defined(MDL_INITIALIZE_CONDITIONS)
154 /* Function: mdlInitializeConditions ========================================
156 * In this function, you should initialize the continuous and discrete
157 * states for your S-function block. The initial states are placed
158 * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
159 * You can also perform any other initialization activities that your
160 * S-function may require. Note, this routine will be called at the
161 * start of simulation and if it is present in an enabled subsystem
162 * configured to reset states, it will be call when the enabled subsystem
163 * restarts execution to reset the states.
165 static void mdlInitializeConditions(SimStruct *S)
168 #endif /* MDL_INITIALIZE_CONDITIONS */
172 #define MDL_START /* Change to #undef to remove function */
173 #if defined(MDL_START)
174 /* Function: mdlStart =======================================================
176 * This function is called once at start of model execution. If you
177 * have states that should be initialized once, this is the place
180 static void mdlStart(SimStruct *S)
184 if (mf624_init(NULL) != 0)
186 #endif /*WITHOUT_HW*/
188 int ADCCMask = (int)MASK_PRM(S);
190 if(ADCCMask > 255 || ADCCMask < 0) {
191 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
194 int ADCChannels = __builtin_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
196 ssSetIWorkValue(S, 0, ADCChannels);
198 mfst->ADC_enabled = ADCCMask;
199 mfst->ADC_enabled &= 0xFF;
201 mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg));
202 #endif /*WITHOUT_HW*/
204 #endif /* MDL_START */
208 /* Function: mdlOutputs =======================================================
210 * In this function, you compute the outputs of your S-function
213 static void mdlOutputs(SimStruct *S, int_T tid)
216 int ADCChannels = ssGetIWorkValue(S, 0);
217 real_T* y[ADCChannels];
221 if (mf624_check(S) != 0)
224 // Activate trigger to start conversion
225 mf624_read16(MFST2REG(mfst, 2, ADSTART_reg));
226 #endif /*WITHOUT_HW*/
228 for(i=0; i < ADCChannels;i++){
229 y[i]=ssGetOutputPortSignal(S,i);
233 // Check if conversion has finished
234 while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) {
235 for (i = 0; i < 1000; i++) {} // small wait
238 for(i=1; i < ADCChannels;i+=2){
239 res = mf624_read32(MFST2REG(mfst, 2, ADDATA0_reg));
242 *y[i-1] = (real_T) (10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
243 *y[i] = (real_T) (10.0 * ((int16_t) (res1 << 2)) / (double) 0x8000);
246 if(i == ADCChannels){
247 res = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg));
248 *y[ADCChannels-1]=(real_T)(10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
251 for(i=0; i < ADCChannels; i++){
254 #endif /*WITHOUT_HW*/
259 #undef MDL_UPDATE /* Change to #undef to remove function */
260 #if defined(MDL_UPDATE)
261 /* Function: mdlUpdate ======================================================
263 * This function is called once for every major integration time step.
264 * Discrete states are typically updated here, but this function is useful
265 * for performing any tasks that should only take place once per
268 static void mdlUpdate(SimStruct *S, int_T tid)
271 #endif /* MDL_UPDATE */
275 #undef MDL_DERIVATIVES /* Change to #undef to remove function */
276 #if defined(MDL_DERIVATIVES)
277 /* Function: mdlDerivatives =================================================
279 * In this function, you compute the S-function block's derivatives.
280 * The derivatives are placed in the derivative vector, ssGetdX(S).
282 static void mdlDerivatives(SimStruct *S)
285 #endif /* MDL_DERIVATIVES */
289 /* Function: mdlTerminate =====================================================
291 * In this function, you should perform any actions that are necessary
292 * at the termination of a simulation. For example, if memory was
293 * allocated in mdlStart, this is the place to free it.
295 static void mdlTerminate(SimStruct *S)
299 #endif /*WITHOUT_HW*/
303 /*======================================================*
304 * See sfuntmpl_doc.c for the optional S-function methods *
305 *======================================================*/
307 /*=============================*
308 * Required S-function trailer *
309 *=============================*/
311 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
312 #include "simulink.c" /* MEX-file interface mechanism */
314 #include "cg_sfun.h" /* Code generation registration function */