-/* Copyright (C) 2013 Czech Technical University in Prague
+/* Copyright (C) 2013, 2014 Czech Technical University in Prague
*
* Authors:
* - Carlos Jenkins <carlos@jenkins.co.cr>
*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
*
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
*
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
*
* File : sfunction_lout.c
* Abstract:
* C-MEX S-function block for RPP digital output.
*
* References:
- * mdlCheckParameters() : sfunctions.pdf p. 421
- * mdlInitializeSizes() : sfunctions.pdf p. 441
- * mdlInitializeSampleTimes() : sfunctions.pdf p. 436
- * mdlSetWorkWidths() : sfunctions.pdf p. 489
- * mdlStart() : sfunctions.pdf p. 492
- * mdlOutputs() : sfunctions.pdf p. 447
- * mdlTerminate() : sfunctions.pdf p. 493
- * mdlRTW() : sfunctions.pdf p. 458
+ * header.c
+ * trailer.c
*
- * Compile with <matlabroot>/bin/mex -v -g sfunction_lout.c
+ * Compile with:
+ * <matlabroot>/bin/mex sfunction_lout.c
*/
-
/*
- * Must specify the S_FUNCTION_NAME as the name of the S-function.
- */
-#define S_FUNCTION_NAME sfunction_lout
-#define S_FUNCTION_LEVEL 2
+%YAML 1.2
+---
+Name: Digital Output
+Category: IO blocks
+Header: rpp/lout.h
+Mnemonic: LOUT
-/*
- * Include common header and utilities
- */
-#include "utils.c"
+Inputs:
+ - { name: "Digital Output", type: "bool" }
-#define MDL_CHECK_PARAMETERS
-#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
+Outputs:
+ - { name: "ErrFlag", type: "bool" }
-/* 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)
-{
- /*
- * Check the parameter 1
- */
- if EDIT_OK(S, 0) {
- int_T dimsArray[2] = { 1, 1 };
+Parameters:
+ - { name: "Pin number", type: "uint8", range: "[1-8]" }
- /* Check the parameter attributes */
- ssCheckSFcnParamValueAttribs(S, 0, "P1", DYNAMICALLY_TYPED, 2, dimsArray, 0);
- }
+# Description and Help is in Markdown mark-up
+Description: |
- /*
- * Check the parameter 2 (sample time)
- */
- if EDIT_OK(S, 1) {
- const double * sampleTime = NULL;
- const size_t stArraySize = mxGetM(SAMPLE_TIME) * mxGetN(SAMPLE_TIME);
+ Sends the digital value to the specified logic output pin on the RPP
+ board.
- /* Sample time must be a real scalar value or 2 element array. */
- if (IsRealMatrix(SAMPLE_TIME) &&
- (stArraySize == 1 || stArraySize == 2) ) {
- sampleTime = mxGetPr(SAMPLE_TIME);
- } else {
- ssSetErrorStatus(S,
- "Invalid sample time. Sample time must be a real scalar value or an array of two real values.");
- return;
- }
+ An input of 1 sets the pin high and 0 sets the pin low.
- if (sampleTime[0] < 0.0 && sampleTime[0] != -1.0) {
- ssSetErrorStatus(S,
- "Invalid sample time. Period must be non-negative or -1 (for inherited).");
- return;
- }
+ If an error is detected while setting the pin, the ErrFlag is set
+ high.
- if (stArraySize == 2 && sampleTime[0] > 0.0 &&
- sampleTime[1] >= sampleTime[0]) {
- ssSetErrorStatus(S,
- "Invalid sample time. Offset must be smaller than period.");
- return;
- }
+Help: |
- if (stArraySize == 2 && sampleTime[0] == -1.0 && sampleTime[1] != 0.0) {
- ssSetErrorStatus(S,
- "Invalid sample time. When period is -1, offset must be 0.");
- return;
- }
+ This block allows to write to the digital outputs on the RPP board. The ErrFlag should raise if
+ `rpp_lout_set()` or `rpp_lout_update()` returns error. Because the ErrFlag should never set,
+ once set the following steps will never clear it back. `rpp_lout_update()` is called on each
+ block, which is not the most efficient but guaranties consistent behavior.
- if (stArraySize == 2 && sampleTime[0] == 0.0 &&
- !(sampleTime[1] == 1.0)) {
- ssSetErrorStatus(S,
- "Invalid sample time. When period is 0, offset must be 1.");
- return;
- }
- }
-}
+Status: Stable
-#endif
+RPP API functions used:
+ - rpp_lout_set()
+ - rpp_lout_update()
-/* 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)
-{
- /* Number of expected parameters */
- ssSetNumSFcnParams(S, 2);
+Relevant demos:
+ - digital_passthrough
+ - led_blink_all
+ - led_blink
+...
+*/
-#if defined(MATLAB_MEX_FILE)
+#define S_FUNCTION_NAME sfunction_lout
+#include "header.c"
- if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
+
+static void mdlInitializeSizes(SimStruct *S)
+{
/*
- * If the number of expected input parameters is not equal
- * to the number of parameters entered in the dialog box return.
- * Simulink will generate an error indicating that there is a
- * parameter mismatch.
+ * Configure parameters: 1
+ * - Pin number: [1-8]
*/
- mdlCheckParameters(S);
- if (ssGetErrorStatus(S) != NULL) {
- return;
+ if (!rppSetNumParams(S, 1)) {
+ return;
}
- } else {
- /* Return if number of expected != number of actual parameters */
- return;
- }
-
-#endif
-
- /* Set the parameter's tunable status */
- ssSetSFcnParamTunable(S, 0, 1);
- ssSetSFcnParamTunable(S, 1, 0);
-
- ssSetNumPWork(S, 0);
-
- if (!ssSetNumDWork(S, 0))
- return;
-
- /*
- * Set the number of input ports.
- */
- if (!ssSetNumInputPorts(S, 1))
- return;
-
- /*
- * Configure the input port 1
- */
- ssSetInputPortDataType(S, 0, SS_UINT8);
- ssSetInputPortWidth(S, 0, 1);
- ssSetInputPortComplexSignal(S, 0, COMPLEX_NO);
- ssSetInputPortDirectFeedThrough(S, 0, 1);
- ssSetInputPortAcceptExprInRTW(S, 0, 1);
- ssSetInputPortOverWritable(S, 0, 1);
- ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortRequiredContiguous(S, 0, 1);
-
- /*
- * Set the number of output ports.
- */
- if (!ssSetNumOutputPorts(S, 0))
- return;
-
- /*
- * This S-function can be used in referenced model simulating in normal mode.
- */
- ssSetModelReferenceNormalModeSupport(S, MDL_START_AND_MDL_PROCESS_PARAMS_OK);
-
- /*
- * Set the number of sample time.
- */
- ssSetNumSampleTimes(S, 1);
-
- /*
- * All options have the form SS_OPTION_<name> and are documented in
- * matlabroot/simulink/include/simstruc.h. The options should be
- * combined with bitwise OR as in
- * ssSetOptions(S, (SS_OPTION_name1 | SS_OPTION_name2))
- */
- ssSetOptions(S,
- SS_OPTION_USE_TLC_WITH_ACCELERATOR |
- SS_OPTION_CAN_BE_CALLED_CONDITIONALLY |
- SS_OPTION_EXCEPTION_FREE_CODE |
- SS_OPTION_WORKS_WITH_CODE_REUSE |
- SS_OPTION_SFUNCTION_INLINED_FOR_RTW |
- SS_OPTION_DISALLOW_CONSTANT_SAMPLE_TIME);
-}
-
-/* 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)
-{
- double * const sampleTime = mxGetPr(SAMPLE_TIME);
- const size_t stArraySize = mxGetM(SAMPLE_TIME) * mxGetN(SAMPLE_TIME);
- ssSetSampleTime(S, 0, sampleTime[0]);
- if (stArraySize == 1) {
- ssSetOffsetTime(S, 0, (sampleTime[0] == CONTINUOUS_SAMPLE_TIME?
- FIXED_IN_MINOR_STEP_OFFSET: 0.0));
- } else {
- ssSetOffsetTime(S, 0, sampleTime[1]);
- }
-
-#if defined(ssSetModelReferenceSampleTimeDefaultInheritance)
-
- ssSetModelReferenceSampleTimeDefaultInheritance(S);
-
-#endif
-}
-
-#define MDL_SET_WORK_WIDTHS
-#if defined(MDL_SET_WORK_WIDTHS) && defined(MATLAB_MEX_FILE)
+ /*
+ * Configure input ports: 1
+ * - Digital output.
+ */
+ if (!ssSetNumInputPorts(S, 1)) {
+ return;
+ }
+ rppAddInputPort(S, 0, SS_BOOLEAN);
-/* Function: mdlSetWorkWidths ==================================================
- * Abstract:
- * The optional method, mdlSetWorkWidths is called after input port
- * width, output port width, and sample times of the S-function have
- * been determined to set any state and work vector sizes which are
- * a function of the input, output, and/or sample times.
- *
- * Run-time parameters are registered in this method using methods
- * ssSetNumRunTimeParams, ssSetRunTimeParamInfo, and related methods.
- */
-static void mdlSetWorkWidths(SimStruct *S)
-{
- /* Set number of run-time parameters */
- if (!ssSetNumRunTimeParams(S, 1))
- return;
+ /*
+ * Configure output ports: 1
+ * - Error flag.
+ */
+ if (!ssSetNumOutputPorts(S, 1)) {
+ return;
+ }
+ rppAddOutputPort(S, 0, SS_BOOLEAN);
- /*
- * Register the run-time parameter 1
- */
- ssRegDlgParamAsRunTimeParam(S, 0, 0, "p1", ssGetDataTypeId(S, "uint8"));
+ /* Set standard options for this block */
+ rppSetStandardOptions(S);
}
-#endif
-
-#define MDL_START
-#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)
+#ifdef MATLAB_MEX_FILE
+#define MDL_CHECK_PARAMETERS
+static void mdlCheckParameters(SimStruct *S)
{
- UNUSED_PARAMETER(S);
+ /* Check the parameter 1 */
+ if (!rppValidParamRange(S, 0, 1, 8)) {
+ return;
+ }
}
-
#endif
-/* Function: mdlOutputs ========================================================
- * Abstract:
- * In this function, you compute the outputs of your S-function
- * block. Generally outputs are placed in the output vector(s),
- * ssGetOutputPortSignal.
- */
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
- UNUSED_PARAMETER(S);
- UNUSED_PARAMETER(tid);
-}
-/* Function: mdlTerminate ======================================================
- * Abstract:
- * In this function, you should perform any actions that are necessary
- * at the termination of a simulation.
- */
-static void mdlTerminate(SimStruct *S)
+#ifdef MATLAB_MEX_FILE
+#define MDL_SET_WORK_WIDTHS
+static void mdlSetWorkWidths(SimStruct *S)
{
- UNUSED_PARAMETER(S);
-}
-
-#define MDL_RTW
-#if defined(MATLAB_MEX_FILE) && defined(MDL_RTW)
+ /* Set number of run-time parameters */
+ if (!ssSetNumRunTimeParams(S, 1)) {
+ return;
+ }
-/* Function: mdlRTW ============================================================
- * Abstract:
- * This function is called when the Real-Time Workshop is generating
- * the model.rtw file.
- */
-static void mdlRTW(SimStruct *S)
-{
- UNUSED_PARAMETER(S);
+ /* Register the run-time parameter 1 */
+ ssRegDlgParamAsRunTimeParam(S, 0, 0, "p1", SS_UINT8);
}
-
#endif
-/*
- * Required S-function trailer
- */
-#ifdef MATLAB_MEX_FILE
-# include "simulink.c"
-#else
-# include "cg_sfun.h"
-#endif
+#define COMMON_MDLINITIALIZESAMPLETIMES_INHERIT
+#define UNUSED_MDLOUTPUTS
+#define UNUSED_MDLTERMINATE
+#include "trailer.c"
projects / pes-rpp / rpp-simulink.git / blobdiff