From 7a3dd5a2dc0bcb926f958f7270218286f4419d9a Mon Sep 17 00:00:00 2001 From: krecmich Date: Mon, 1 Jul 2013 14:48:43 +0200 Subject: [PATCH] Created s-functions for DigitalOutputs and for reading PWM via counters. Signed-off-by: krecmich --- sfDigitalOutput.c | 255 +++++++++++++++++++++++++++++++++++++++++ sfReadPWM.c | 282 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 537 insertions(+) create mode 100644 sfDigitalOutput.c create mode 100644 sfReadPWM.c diff --git a/sfDigitalOutput.c b/sfDigitalOutput.c new file mode 100644 index 0000000..61dc5b1 --- /dev/null +++ b/sfDigitalOutput.c @@ -0,0 +1,255 @@ +/* + * sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function. + * + * ------------------------------------------------------------------------- + * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template | + * ------------------------------------------------------------------------- + * + * Copyright 1990-2002 The MathWorks, Inc. + * $Revision: 1.27.4.2 $ + */ + + +/* + * You must specify the S_FUNCTION_NAME as the name of your S-function + * (i.e. replace sfuntmpl_basic with the name of your S-function). + */ + +#define S_FUNCTION_NAME sfDigitalOutput +#define S_FUNCTION_LEVEL 2 + +#define CHNL_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0))) + +/* + * Need to include simstruc.h for the definition of the SimStruct and + * its associated macro definitions. + */ +#include "simstruc.h" +#include "mf624_SIMULINK.h" + +/* Error handling + * -------------- + * + * You should use the following technique to report errors encountered within + * an S-function: + * + * ssSetErrorStatus(S,"Error encountered due to ..."); + * return; + * + * Note that the 2nd argument to ssSetErrorStatus must be persistent memory. + * It cannot be a local variable. For example the following will cause + * unpredictable errors: + * + * mdlOutputs() + * { + * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"} + * sprintf(msg,"Error due to %s", string); + * ssSetErrorStatus(S,msg); + * return; + * } + * + * See matlabroot/simulink/src/sfuntmpl_doc.c for more details. + */ + +/*====================* + * S-function methods * + *====================*/ + +/* Function: mdlInitializeSizes =============================================== + * Abstract: + * The sizes information is used by Simulink to determine the S-function + * block's characteristics (number of inputs, outputs, states, etc.). + */ +static void mdlInitializeSizes(SimStruct *S) +{ + /* See sfuntmpl_doc.c for more details on the macros below */ + + ssSetNumSFcnParams(S, 1); /* Number of expected parameters */ + if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { + /* Return if number of expected != number of actual parameters */ + return; + } + + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + if (!ssSetNumInputPorts(S, 1)) return; + ssSetInputPortWidth(S, 0, 1); + ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/ + /* + * Set direct feedthrough flag (1=yes, 0=no). + * A port has direct feedthrough if the input is used in either + * the mdlOutputs or mdlGetTimeOfNextVarHit functions. + * See matlabroot/simulink/src/sfuntmpl_directfeed.txt. + */ + ssSetInputPortDirectFeedThrough(S, 0, 1); + + if (!ssSetNumOutputPorts(S, 0)) return; + + ssSetNumSampleTimes(S, 1); + ssSetNumRWork(S, 0); + ssSetNumIWork(S, 0); + ssSetNumPWork(S, 0); + ssSetNumModes(S, 0); + ssSetNumNonsampledZCs(S, 0); + + /* Specify the sim state compliance to be same as a built-in block */ + ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); + + ssSetOptions(S, 0); +} + + + +/* Function: mdlInitializeSampleTimes ========================================= + * Abstract: + * This function is used to specify the sample time(s) for your + * S-function. You must register the same number of sample times as + * specified in ssSetNumSampleTimes. + */ +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, -1); + ssSetOffsetTime(S, 0, 0.0); + +} + + + +#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */ +#if defined(MDL_INITIALIZE_CONDITIONS) + /* Function: mdlInitializeConditions ======================================== + * Abstract: + * In this function, you should initialize the continuous and discrete + * states for your S-function block. The initial states are placed + * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S). + * You can also perform any other initialization activities that your + * S-function may require. Note, this routine will be called at the + * start of simulation and if it is present in an enabled subsystem + * configured to reset states, it will be call when the enabled subsystem + * restarts execution to reset the states. + */ + static void mdlInitializeConditions(SimStruct *S) + { + } +#endif /* MDL_INITIALIZE_CONDITIONS */ + + + +#define MDL_START /* Change to #undef to remove function */ +#if defined(MDL_START) + /* Function: mdlStart ======================================================= + * Abstract: + * This function is called once at start of model execution. If you + * have states that should be initialized once, this is the place + * to do it. + */ + static void mdlStart(SimStruct *S) + { + if(mfst==NULL){ + #define BUFF_SMALL 32 + mfst = malloc(sizeof(mf624_state_t)); + char buff[BUFF_SMALL]; + memset(buff, '\0', BUFF_SMALL); + mfst->uio_dev = "uio0"; + + strncat(buff, "/dev/", 5); + strncat(buff, mfst->uio_dev, sizeof(buff) - 6); + + mfst->device_fd = open_device(buff); + if (mfst->device_fd < 0) { + ssSetErrorStatus(S,"open failed"); + return; + } + if (mmap_regions(mfst) < 0) { + ssSetErrorStatus(S,"mmap_regions failed"); + return; + } + } + mfst->DOut=0; + + } +#endif /* MDL_START */ + + + +/* Function: mdlOutputs ======================================================= + * Abstract: + * In this function, you compute the outputs of your S-function + * block. + */ +static void mdlOutputs(SimStruct *S, int_T tid) +{ + const real_T *u = (const real_T*) ssGetInputPortSignal(S,0); + mf624_state_t* mfst = ssGetPWorkValue(S,0); + if(u[0] > 0.5){ + /*Update the "word" holding Output Values*/ + mfst->DOut |= (1 << (int)(CHNL_PRM(S)-1)); + } + else { + /*Update the "word" holding Output Values*/ + mfst->DOut &= ~(1 << (int)(CHNL_PRM(S)-1)); + } + + mf624_write16(mfst->DOut, MFST2REG(mfst, 2, DOUT_reg)); +} + + + +#define MDL_UPDATE /* Change to #undef to remove function */ +#if defined(MDL_UPDATE) + /* Function: mdlUpdate ====================================================== + * Abstract: + * This function is called once for every major integration time step. + * Discrete states are typically updated here, but this function is useful + * for performing any tasks that should only take place once per + * integration step. + */ + static void mdlUpdate(SimStruct *S, int_T tid) + { + } +#endif /* MDL_UPDATE */ + + + +#define MDL_DERIVATIVES /* Change to #undef to remove function */ +#if defined(MDL_DERIVATIVES) + /* Function: mdlDerivatives ================================================= + * Abstract: + * In this function, you compute the S-function block's derivatives. + * The derivatives are placed in the derivative vector, ssGetdX(S). + */ + static void mdlDerivatives(SimStruct *S) + { + } +#endif /* MDL_DERIVATIVES */ + + + +/* Function: mdlTerminate ===================================================== + * Abstract: + * In this function, you should perform any actions that are necessary + * at the termination of a simulation. For example, if memory was + * allocated in mdlStart, this is the place to free it. + */ +static void mdlTerminate(SimStruct *S) +{ + if(mfst!=NULL){ + free(ssGetPWorkValue(S,0)); + } +} + + +/*======================================================* + * See sfuntmpl_doc.c for the optional S-function methods * + *======================================================*/ + +/*=============================* + * Required S-function trailer * + *=============================*/ + +#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */ +#include "simulink.c" /* MEX-file interface mechanism */ +#else +#include "cg_sfun.h" /* Code generation registration function */ +#endif diff --git a/sfReadPWM.c b/sfReadPWM.c new file mode 100644 index 0000000..1f7e01b --- /dev/null +++ b/sfReadPWM.c @@ -0,0 +1,282 @@ + +#define S_FUNCTION_NAME sfReadPWM +#define S_FUNCTION_LEVEL 2 + +#define PERIOD_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0))) +#define CTRX_MODE 2083 //=100000100011, count up, repeat, outpu low,gate by ctrIn +#define CTR4_MODE 35 //100011, count upm, repeat,output low +#define CTR_START ((1 << 0) | (1 << 6) | (1 << 12) | (1 << 24)) //start counters 0,1,2,4 +#define CTRCLOCK 50000000 + +/* + * Need to include simstruc.h for the definition of the SimStruct and + * its associated macro definitions. + */ +#include "simstruc.h" + +#include "mf624_SIMULINK.h" + +/* Error handling + * -------------- + * + * You should use the following technique to report errors encountered within + * an S-function: + * + * ssSetErrorStatus(S,"Error encountered due to ..."); + * return; + * + * Note that the 2nd argument to ssSetErrorStatus must be persistent memory. + * It cannot be a local variable. For example the following will cause + * unpredictable errors: + * + * mdlOutputs() + * { + * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"} + * sprintf(msg,"Error due to %s", string); + * ssSetErrorStatus(S,msg); + * return; + * } + * + * See matlabroot/simulink/src/sfuntmpl_doc.c for more details. + */ + +/*====================* + * S-function methods * + *====================*/ + +/* Function: mdlInitializeSizes =============================================== + * Abstract: + * The sizes information is used by Simulink to determine the S-function + * block's characteristics (number of inputs, outputs, states, etc.). + */ +static void mdlInitializeSizes(SimStruct *S) +{ + /* See sfuntmpl_doc.c for more details on the macros below */ + + ssSetNumSFcnParams(S, 1); /* Number of expected parameters */ + if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { + /* Return if number of expected != number of actual parameters */ + return; + } + + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + if (!ssSetNumInputPorts(S, 1)) return; + ssSetInputPortWidth(S, 0, 1); + ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/ + /* + * Set direct feedthrough flag (1=yes, 0=no). + * A port has direct feedthrough if the input is used in either + * the mdlOutputs or mdlGetTimeOfNextVarHit functions. + * See matlabroot/simulink/src/sfuntmpl_directfeed.txt. + */ + ssSetInputPortDirectFeedThrough(S, 0, 1); + + if (!ssSetNumOutputPorts(S, 3)) return; + ssSetOutputPortWidth(S, 0, 1); + ssSetOutputPortWidth(S, 1, 1); + ssSetOutputPortWidth(S, 2, 1); + + ssSetNumSampleTimes(S, 1); + ssSetNumRWork(S, 0); + ssSetNumIWork(S, 4); + ssSetNumPWork(S, 0); + ssSetNumModes(S, 0); + ssSetNumNonsampledZCs(S, 0); + + /* Specify the sim state compliance to be same as a built-in block */ + ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); + + ssSetOptions(S, 0); +} + + + +/* Function: mdlInitializeSampleTimes ========================================= + * Abstract: + * This function is used to specify the sample time(s) for your + * S-function. You must register the same number of sample times as + * specified in ssSetNumSampleTimes. + */ +static void mdlInitializeSampleTimes(SimStruct *S) +{ + ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME); + ssSetOffsetTime(S, 0, 0.0); + +} + + + +#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */ +#if defined(MDL_INITIALIZE_CONDITIONS) + /* Function: mdlInitializeConditions ======================================== + * Abstract: + * In this function, you should initialize the continuous and discrete + * states for your S-function block. The initial states are placed + * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S). + * You can also perform any other initialization activities that your + * S-function may require. Note, this routine will be called at the + * start of simulation and if it is present in an enabled subsystem + * configured to reset states, it will be call when the enabled subsystem + * restarts execution to reset the states. + */ + static void mdlInitializeConditions(SimStruct *S) + { + } +#endif /* MDL_INITIALIZE_CONDITIONS */ + + + +#define MDL_START /* Change to #undef to remove function */ +#if defined(MDL_START) + /* Function: mdlStart ======================================================= + * Abstract: + * This function is called once at start of model execution. If you + * have states that should be initialized once, this is the place + * to do it. + */ + static void mdlStart(SimStruct *S) + { + if(mfst==NULL){ + #define BUFF_SMALL 32 + mfst = malloc(sizeof(mf624_state_t)); + char buff[BUFF_SMALL]; + memset(buff, '\0', BUFF_SMALL); + mfst->uio_dev = "uio0"; + + strncat(buff, "/dev/", 5); + strncat(buff, mfst->uio_dev, sizeof(buff) - 6); + + mfst->device_fd = open_device(buff); + + if (mfst->device_fd < 0) { + ssSetErrorStatus(S,"open failed"); + return; + } + + if (mmap_regions(mfst) < 0) { + ssSetErrorStatus(S,"mmap_regions failed"); + return; + } + + } + + /*Configuration of desired counter modes*/ + mf624_write32(CTRX_MODE,MFST2REG(mfst,4,CTR0MODE)); + mf624_write32(CTRX_MODE,MFST2REG(mfst,4,CTR1MODE)); + mf624_write32(CTRX_MODE,MFST2REG(mfst,4,CTR2MODE)); + mf624_write32(CTR4_MODE,MFST2REG(mfst,4,CTR4MODE)); + + /*Set reload values of ctrs 0,1,2,4 to 0 just to be sure*/ + mf624_write32(0,MFST2REG(mfst,4,CTR0)); + mf624_write32(0,MFST2REG(mfst,4,CTR1)); + mf624_write32(0,MFST2REG(mfst,4,CTR2)); + mf624_write32(0,MFST2REG(mfst,4,CTR4)); + + /*Read values from counters and initialize IWork values with them*/ + ssSetIWorkValue(S,0,(uint)mf624_read32(MFST2REG(mfst,4,CTR0))); + ssSetIWorkValue(S,1,(uint)mf624_read32(MFST2REG(mfst,4,CTR1))); + ssSetIWorkValue(S,2,(uint)mf624_read32(MFST2REG(mfst,4,CTR2))); + ssSetIWorkValue(S,3,(uint)mf624_read32(MFST2REG(mfst,4,CTR4))); + + /*Start counters 0,1,2, tehy are gated with their inputs so no worries about premature start*/ + mf624_write32(CTR_START,MFST2REG(mfst,4,CTRXCTRL)); + + + } +#endif /* MDL_START */ + + + +/* Function: mdlOutputs ======================================================= + * Abstract: + * In this function, you compute the outputs of your S-function + * block. + */ +static void mdlOutputs(SimStruct *S, int_T tid) +{ + const real_T *u = (const real_T*) ssGetInputPortSignal(S,0); + real_T *y0 = ssGetOutputPortSignal(S,0); + real_T *y1 = ssGetOutputPortSignal(S,1); + real_T *y2 = ssGetOutputPortSignal(S,2); + uint period; + uint c0,c1,c2,c4; + + + c0 = mf624_read32(MFST2REG(mfst,4,CTR0)); + c1 = mf624_read32(MFST2REG(mfst,4,CTR1)); + c2 = mf624_read32(MFST2REG(mfst,4,CTR2)); + c4 = mf624_read32(MFST2REG(mfst,4,CTR4)); + + period = (uint)(c4-(uint)ssGetIWorkValue(S,3)); + + y0[0] = (c0-(uint)ssGetIWorkValue(S,0))/period; + y1[0] = (c1-(uint)ssGetIWorkValue(S,1))/period; + y2[0] = (c2-(uint)ssGetIWorkValue(S,2))/period; + + ssSetIWorkValue(S,0,c0); + ssSetIWorkValue(S,1,c1); + ssSetIWorkValue(S,2,c2); + ssSetIWorkValue(S,3,c4); +} + + + +#define MDL_UPDATE /* Change to #undef to remove function */ +#if defined(MDL_UPDATE) + /* Function: mdlUpdate ====================================================== + * Abstract: + * This function is called once for every major integration time step. + * Discrete states are typically updated here, but this function is useful + * for performing any tasks that should only take place once per + * integration step. + */ + static void mdlUpdate(SimStruct *S, int_T tid) + { + } +#endif /* MDL_UPDATE */ + + + +#define MDL_DERIVATIVES /* Change to #undef to remove function */ +#if defined(MDL_DERIVATIVES) + /* Function: mdlDerivatives ================================================= + * Abstract: + * In this function, you compute the S-function block's derivatives. + * The derivatives are placed in the derivative vector, ssGetdX(S). + */ + static void mdlDerivatives(SimStruct *S) + { + } +#endif /* MDL_DERIVATIVES */ + + + +/* Function: mdlTerminate ===================================================== + * Abstract: + * In this function, you should perform any actions that are necessary + * at the termination of a simulation. For example, if memory was + * allocated in mdlStart, this is the place to free it. + */ +static void mdlTerminate(SimStruct *S) +{ + if(mfst!=NULL){ + free(mfst); + } +} + + +/*======================================================* + * See sfuntmpl_doc.c for the optional S-function methods * + *======================================================*/ + +/*=============================* + * Required S-function trailer * + *=============================*/ + +#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */ +#include "simulink.c" /* MEX-file interface mechanism */ +#else +#include "cg_sfun.h" /* Code generation registration function */ +#endif -- 2.39.2