From b97abaaa4663e5a6caa3af4f65a09c5ca96b7e2e Mon Sep 17 00:00:00 2001 From: Pavel Pisa Date: Sun, 16 Feb 2014 19:29:17 +0100 Subject: [PATCH] New sfPWMwDirOutput combining PWM with digital output bit for direction. Signed-off-by: Pavel Pisa --- Makefile | 9 +- sfPWMwDirOutput.c | 479 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 484 insertions(+), 4 deletions(-) create mode 100644 sfPWMwDirOutput.c diff --git a/Makefile b/Makefile index cefc692..620da70 100644 --- a/Makefile +++ b/Makefile @@ -1,10 +1,11 @@ -MEXFLAGS ?= -f ./mexopts.sh +MEXFLAGS ?= -f ./mexopts.sh -g all: mex $(MEXFLAGS) sfAnalogInput.c mf624_SIMULINK.c mex $(MEXFLAGS) sfAnalogOutput.c mf624_SIMULINK.c mex $(MEXFLAGS) sfDigitalOutput.c mf624_SIMULINK.c mex $(MEXFLAGS) sfDigitalInput.c mf624_SIMULINK.c - mex $(MEXFLAGS) sfReadPWM.c mf624_SIMULINK.c - mex $(MEXFLAGS) sfIRCInput.c mf624_SIMULINK.c - mex $(MEXFLAGS) sfPWMOutput.c mf624_SIMULINK.c + mex $(MEXFLAGS) sfReadPWM.c mf624_SIMULINK.c + mex $(MEXFLAGS) sfIRCInput.c mf624_SIMULINK.c + mex $(MEXFLAGS) sfPWMOutput.c mf624_SIMULINK.c + mex $(MEXFLAGS) sfPWMwDirOutput.c mf624_SIMULINK.c diff --git a/sfPWMwDirOutput.c b/sfPWMwDirOutput.c new file mode 100644 index 0000000..ebae4c2 --- /dev/null +++ b/sfPWMwDirOutput.c @@ -0,0 +1,479 @@ +/* + * S-function to support PWM with direction bit on Humusoft MF624 card + * + * (C) Copyright 2014 Pavel Pisa + * + * Department of Control Engineering + * Faculty of Electrical Engineering + * Czech Technical University in Prague (CTU) + * + * The S-Function for ERT Linux can be distributed in compliance + * with GNU General Public License (GPL) version 2 or later. + * Other licence can negotiated with CTU. + * + * Next exception is granted in addition to GPL. + * Instantiating or linking compiled version of this code + * to produce an application image/executable, does not + * by itself cause the resulting application image/executable + * to be covered by the GNU General Public License. + * This exception does not however invalidate any other reasons + * why the executable file might be covered by the GNU Public License. + * Publication of enhanced or derived S-function files is required + * although. + * + * Linux ERT code is available from + * http://rtime.felk.cvut.cz/gitweb/ert_linux.git + * More CTU Linux target for Simulink components are available at + * http://lintarget.sourceforge.net/ + * + * sfuntmpl_basic.c by The MathWorks, Inc. has been used to accomplish + * required S-function structure. + */ + + +#define S_FUNCTION_NAME sfPWMwDirOutput +#define S_FUNCTION_LEVEL 2 + +/* + * The S-function has next parameters + * + * PWM Channel number + * PWM Frequency - value -1 for external input + * Associated digital output for direction + */ + +#define PRM_CHANNEL(S) (mxGetScalar(ssGetSFcnParam(S, 0))) +#define PRM_FREQUENCY(S) (mxGetScalar(ssGetSFcnParam(S, 1))) +#define PRM_DIR_DO_BIT(S) (mxGetScalar(ssGetSFcnParam(S, 2))) + +#define PRM_COUNT 3 + +#define IWORK_IDX_CHANNEL 0 +#define IWORK_IDX_DIR_DO_BIT 1 +#define IWORK_IDX_CTR_MODE 2 +#define IWORK_IDX_USE_FREQUENCY_INPUT 3 +#define IWORK_IDX_LAST_MODE 4 +enum {CTR_MODE_ZERO = 0, CTR_MODE_PLUS_PWM = 1, CTR_MODE_PLUS_FULL = 2, + CTR_MODE_MINUS_PWM = -1, CTR_MODE_MINUS_FULL = -2}; + +#define IWORK_COUNT 4 + +#define IWORK_CHANNEL(S) (ssGetIWork(S)[IWORK_IDX_CHANNEL]) +#define IWORK_DIR_DO_BIT(S) (ssGetIWork(S)[IWORK_IDX_DIR_DO_BIT]) +#define IWORK_CTR_MODE(S) (ssGetIWork(S)[IWORK_IDX_CTR_MODE]) +#define IWORK_USE_FREQUENCY_INPUT(S) (ssGetIWork(S)[IWORK_IDX_USE_FREQUENCY_INPUT]) +#define IWORK_LAST_MODE(S) (ssGetIWork(S)[IWORK_IDX_LAST_MODE]) + +#define RWORK_IDX_BASE_FREQUENCY 0 + +#define RWORK_COUNT 1 + +#define RWORK_BASE_FREQUENCY(S) (ssGetRWork(S)[RWORK_IDX_BASE_FREQUENCY]) + + +/* + * Need to include simstruc.h for the definition of the SimStruct and + * its associated macro definitions. + */ +#include "simstruc.h" +#include "mf624_SIMULINK.h" + +#define CTR_MAX_PWM_CHANNEL 3 + +typedef struct { + int32_T STATUS_reg; + int32_T MODE_reg; + int32_T CTR_reg; + int32_T A_reg; + int32_T B_reg; + int32_T CTRL_reg; +} ctr_channel_regs_t; + +static const ctr_channel_regs_t ctr_channel2regs[] = { + {CTR0STATUS_reg, CTR0MODE_reg, CTR0_reg, CTR0A_reg, CTR0B_reg, CTRXCTRL_reg}, + {CTR1STATUS_reg, CTR1MODE_reg, CTR1_reg, CTR1A_reg, CTR1B_reg, CTRXCTRL_reg}, + {CTR2STATUS_reg, CTR2MODE_reg, CTR2_reg, CTR2A_reg, CTR2B_reg, CTRXCTRL_reg}, + {CTR3STATUS_reg, CTR3MODE_reg, CTR3_reg, CTR3A_reg, CTR3B_reg, CTRXCTRL_reg}, + {CTR4STATUS_reg, CTR4MODE_reg, CTR4_reg, CTR4A_reg, -1, CTRXCTRL_reg} +}; + +/* 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. + */ + +static void fncSetDirOutput(SimStruct *S, int_T direction_mode) +{ + if (mf624_check(S) != 0) + return; + + /* FIXME consider locking there */ + if(direction_mode >= 0) { + mfst->DOut |= (1 << IWORK_DIR_DO_BIT(S)); + } else { + mfst->DOut &= ~(1 << IWORK_DIR_DO_BIT(S)); + } + + mf624_write16(mfst->DOut, MFST2REG(mfst, 2, DOUT_reg)); +} + +/*====================* + * S-function methods * + *====================*/ + +#define MDL_CHECK_PARAMETERS /* Change to #undef to remove function */ +#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE) + /* Function: mdlCheckParameters ============================================= + * Abstract: + * mdlCheckParameters verifies new parameter settings whenever parameter + * change or are re-evaluated during a simulation. When a simulation is + * running, changes to S-function parameters can occur at any time during + * the simulation loop. + */ +static void mdlCheckParameters(SimStruct *S) +{ + if ((PRM_CHANNEL(S) < 0) || (PRM_CHANNEL(S) > CTR_MAX_PWM_CHANNEL)) + ssSetErrorStatus(S, "valid PWM channel is 0, 1, 2, or 3"); + if ((PRM_FREQUENCY(S) <= 0) && (PRM_FREQUENCY(S) != -1)) + ssSetErrorStatus(S, "Frequency out of valid range"); + if ((PRM_DIR_DO_BIT(S) < 0) || (PRM_DIR_DO_BIT(S) > 7) ) + ssSetErrorStatus(S, "Invalid direction output specification (0 to 7 supported)"); +} +#endif /* MDL_CHECK_PARAMETERS */ + + + +/* 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) +{ + int_T nInputPorts = 1; + + ssSetNumSFcnParams(S, PRM_COUNT); /* Number of expected parameters */ + if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { + /* Return if number of expected != number of actual parameters */ + ssSetErrorStatus(S, "2-parameters requited: Channel, PWM Frequncy or -1"); + return; + } + + ssSetNumContStates(S, 0); + ssSetNumDiscStates(S, 0); + + #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE) + mdlCheckParameters(S); + if (ssGetErrorStatus(S) != NULL) return; + #endif + + if (PRM_FREQUENCY(S) == -1) + nInputPorts++; + + if (!ssSetNumInputPorts(S, nInputPorts)) return; + ssSetInputPortWidth(S, 0, 1); + ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/ + + if (PRM_FREQUENCY(S) == -1) { + ssSetInputPortWidth(S, 1, 1); + ssSetInputPortRequiredContiguous(S, 1, 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, 0); + + if (!ssSetNumOutputPorts(S, 0)) return; + + ssSetNumSampleTimes(S, 1); + ssSetNumRWork(S, RWORK_COUNT); + ssSetNumIWork(S, IWORK_COUNT); + 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, INHERITED_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) +{ + int32_T ctr_mode; + + if (mf624_init(NULL) != 0) + return; + + IWORK_CHANNEL(S) = PRM_CHANNEL(S); + IWORK_DIR_DO_BIT(S) = PRM_DIR_DO_BIT(S); + + IWORK_USE_FREQUENCY_INPUT(S) = (PRM_FREQUENCY(S) == -1)? 1: 0; + + RWORK_BASE_FREQUENCY(S) = 50e6; + + IWORK_CTR_MODE(S) = 0; + + IWORK_LAST_MODE(S) = CTR_MODE_ZERO; + + /* Force output low during startup */ + ctr_mode = __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_FORCE_LO); + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); +} +#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) +{ + real_T duty = *(const real_T*) ssGetInputPortSignal(S, 0); + real_T frequency; + int32_T ctr_mode; + int32_T ctr_ctrl; + real_T T; + real_T T1; + uint32_T T1_uint; + uint32_T T2_uint; + int_T new_mode; + + if (mf624_check(S) != 0) + return; + + if (IWORK_USE_FREQUENCY_INPUT(S)) + frequency = *(const real_T*) ssGetInputPortSignal(S, 1); + else + frequency = PRM_FREQUENCY(S); + + if (duty >= 1) + { + if (IWORK_LAST_MODE(S) != CTR_MODE_PLUS_FULL) { + IWORK_LAST_MODE(S) = CTR_MODE_PLUS_FULL; + fncSetDirOutput(S, CTR_MODE_PLUS_FULL); + ctr_mode = __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_FORCE_HI); + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); + /*printf("duty >=1: ctr_mode = 0x%08lx\n", ctr_mode);*/ + } + return; + } + + if (duty <= -1) + { + if (IWORK_LAST_MODE(S) != CTR_MODE_MINUS_FULL) { + IWORK_LAST_MODE(S) = CTR_MODE_MINUS_FULL; + fncSetDirOutput(S, CTR_MODE_MINUS_FULL); + ctr_mode = __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_FORCE_HI); + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); + /*printf("duty >=1: ctr_mode = 0x%08lx\n", ctr_mode);*/ + } + return; + } + + new_mode = CTR_MODE_PLUS_PWM; + if (duty < 0) { + new_mode = CTR_MODE_MINUS_PWM; + duty = -duty; + } + + T = RWORK_BASE_FREQUENCY(S) / frequency; + T1 = T * duty; + + if ((T1 < 0.5) || (frequency <= 0) || (frequency > RWORK_BASE_FREQUENCY(S) / 2)) + { + if (IWORK_LAST_MODE(S) != CTR_MODE_ZERO) { + IWORK_LAST_MODE(S) = CTR_MODE_ZERO; + fncSetDirOutput(S, CTR_MODE_ZERO); + ctr_mode = __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_FORCE_LO); + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); + /*printf("duty <=0: ctr_mode = 0x%08lx\n", ctr_mode);*/ + } + return; + } + + if (T <= 0xffffffff) + T2_uint = T; + else + T2_uint = 0xffffffff; + + if (T1 <= 0xffffffff) + T1_uint = T1; + else + T1_uint = 0xffffffff; + + if (!T1_uint) + T1_uint = 1; + if (T1_uint >= T2_uint) + T1_uint = T2_uint - 1; + + T2_uint -= T1_uint; + + if (IWORK_LAST_MODE(S) == new_mode) { + mf624_write32(T1_uint, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].A_reg)); + mf624_write32(T2_uint, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].B_reg)); + } else { + IWORK_LAST_MODE(S) = new_mode; + + ctr_ctrl = CTRXCTRL_CTR0STOP_mask | CTRXCTRL_CTR0LOAD_mask | CTRXCTRL_CTR0RESET_mask | CTRXCTRL_CTR0TRESET_mask; + ctr_ctrl <<= IWORK_CHANNEL(S) * CTRXCTRL_CHANNEL_SHIFT; + mf624_write32(ctr_ctrl, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].CTRL_reg)); + + fncSetDirOutput(S, new_mode); + mf624_write32(T1_uint, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].A_reg)); + mf624_write32(T2_uint, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].B_reg)); + + ctr_mode = IWORK_CTR_MODE(S) | + __val2mfld(CTR_MODE_COUNT_DIR_mask, CTR_MODE_COUNT_DIR_DOWN) | + __val2mfld(CTR_MODE_REPETITION_mask, CTR_MODE_REPETITION_ENABLED) | + __val2mfld(CTR_MODE_LOAD_TOGGLE_mask, CTR_MODE_LOAD_TOGGLE_ENABLED) | + __val2mfld(CTR_MODE_OUTPUT_TOGGLE_mask, CTR_MODE_OUTPUT_TOGGLE_ENABLED) | + __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_DIRECT) | + __val2mfld(CTR_MODE_TRIGGER_SOURCE_mask, CTR_MODE_TRIGGER_SOURCE_DISABLED) | + __val2mfld(CTR_MODE_TRIGGER_TYPE_mask, CTR_MODE_TRIGGER_TYPE_DISABLED) | + __val2mfld(CTR_MODE_RETRIGGER_mask, CTR_MODE_RETRIGGER_DISABLED); + + /*printf("duty %e: ctr_mode = 0x%08lx T1_uint = 0x%08lx, T2_uint = 0x%08lx\n", duty, ctr_mode, T1_uint, T2_uint);*/ + + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); + + ctr_ctrl = CTRXCTRL_CTR0START_mask; + ctr_ctrl <<= IWORK_CHANNEL(S) * CTRXCTRL_CHANNEL_SHIFT; + mf624_write32(ctr_ctrl, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].CTRL_reg)); + } +} + + + +#undef 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 */ + + + +#undef 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) +{ + int32_T ctr_mode; + + if (mf624_check(S) == 0) { + /* Force output low when finished */ + ctr_mode = __val2mfld(CTR_MODE_OUTPUT_CONTROL_mask, CTR_MODE_OUTPUT_CONTROL_FORCE_LO); + mf624_write32(ctr_mode, MFST2REG(mfst, 4, ctr_channel2regs[IWORK_CHANNEL(S)].MODE_reg)); + } + + mf624_done(); +} + + +/*======================================================* + * 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