--- /dev/null
+/*
+ * Copyright (C) 2013 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.
+ *
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * File : rotation_dec.c
+ * Abstract:
+ * Simple lookup-table / mapping function between a sensors decoded
+ * integer and rotation sense, error or no rotation. MEX S-function
+ * version of the following table:
+ *
+ * I A Ap B Bp | O Err
+ * ----------------------------
+ * 00) 0 0 0 0 | 0 f
+ * 01) 0 0 0 1 | -1 f
+ * 02) 0 0 1 0 | +1 f
+ * 03) 0 0 1 1 | 0 f
+ * 04) 0 1 0 0 | +1 f
+ * 05) 0 1 0 1 | -2 t
+ * 06) 0 1 1 0 | -2 t
+ * 07) 0 1 1 1 | -1 f
+ * 08) 1 0 0 0 | -1 f
+ * 09) 1 0 0 1 | -2 t
+ * 10) 1 0 1 0 | -2 t
+ * 11) 1 0 1 1 | +1 f
+ * 12) 1 1 0 0 | 0 f
+ * 13) 1 1 0 1 | +1 f
+ * 14) 1 1 1 0 | -1 f
+ * 15) 1 1 1 1 | 0 f
+ *
+ */
+
+#define S_FUNCTION_NAME rotation_dec
+#define S_FUNCTION_LEVEL 2
+
+#include "simstruc.h"
+
+static real_T DEC_TABLE[16] = {
+ 0, -1, +1, 0, +1, -2, -2, -1, -1, -2, -2, +1, 0, +1, -1, 0
+ };
+
+/* Function: mdlInitializeSizes ===============================================
+ * Abstract:
+ * Setup sizes of the various vectors.
+ */
+static void mdlInitializeSizes(SimStruct *S)
+{
+ /* Configure parameters */
+ ssSetNumSFcnParams(S, 0);
+ if(ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
+ return;
+ }
+
+ /* Configure input ports */
+ if(!ssSetNumInputPorts(S, 1)) {
+ return;
+ }
+ ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
+ ssSetInputPortDirectFeedThrough(S, 0, 1);
+
+ /* Configure output ports */
+ if(!ssSetNumOutputPorts(S, 2)) {
+ return;
+ }
+ ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED); /* Output */
+ ssSetOutputPortWidth(S, 1, 1); /* Error flag */
+ ssSetOutputPortDataType(S, 1, SS_BOOLEAN);
+
+ /* Configure sample time */
+ ssSetNumSampleTimes(S, 1);
+
+ /* FIXME: Check the following lines, not sure what they does. */
+ /* specify the sim state compliance to be same as a built-in block */
+ ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
+
+ /* Take care when specifying exception free code - see sfuntmpl_doc.c */
+ ssSetOptions(S,
+ SS_OPTION_WORKS_WITH_CODE_REUSE |
+ /*SS_OPTION_EXCEPTION_FREE_CODE |*/
+ SS_OPTION_USE_TLC_WITH_ACCELERATOR);
+}
+
+
+/* Function: mdlInitializeSampleTimes =========================================
+ * Abstract:
+ * Specifiy that we inherit our sample time from the driving block.
+ */
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
+ ssSetOffsetTime(S, 0, 0.0);
+ ssSetModelReferenceSampleTimeDefaultInheritance(S);
+}
+
+/* Function: mdlOutputs =======================================================
+ * Abstract:
+ * o = table[i]
+ */
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ /* IO ports pointers */
+ InputRealPtrsType inptr = ssGetInputPortRealSignalPtrs(S, 0);
+ real_T* outptr = ssGetOutputPortRealSignal(S, 0);
+ boolean_T* errptr = (boolean_T*) ssGetOutputPortSignal(S, 1);
+
+ /* Process variables */
+ boolean_T err = false;
+ real_T input;
+ real_T value;
+
+ int_T i;
+ for(i = 0; i < ssGetOutputPortWidth(S, 0); i++) {
+
+ input = *inptr[i];
+
+ /* Check decoder out of bounds */
+ if((input < 0.0) || (input >= 16.0)) {
+ input = 0.0;
+ err = true;
+ }
+
+ /* Check decoder valid entry */
+ value = DEC_TABLE[(int) input];
+ if(value == -2) {
+ err = true;
+ }
+
+ *outptr++ = value;
+ }
+
+ /* Set or clear error flag */
+ errptr[0] = err;
+}
+
+
+/* Function: mdlTerminate =====================================================
+ * Abstract:
+ * No termination needed, but we are required to have this routine.
+ */
+static void mdlTerminate(SimStruct *S)
+{
+}
+
+
+
+#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
+
--- /dev/null
+/*
+ * File : timestwo.c
+ * Abstract:
+ * An example C-file S-function for multiplying an input by 2,
+ * y = 2*u
+ *
+ * Real-Time Workshop note:
+ * This file can be used as is (noninlined) with the Real-Time Workshop
+ * C rapid prototyping targets, or it can be inlined using the Target
+ * Language Compiler technology and used with any target. See
+ * matlabroot/toolbox/simulink/blocks/tlc_c/timestwo.tlc
+ * the TLC code to inline the S-function.
+ *
+ * See simulink/src/sfuntmpl_doc.c
+ *
+ * Copyright 1990-2009 The MathWorks, Inc.
+ * $Revision: 1.1.6.2 $
+ */
+
+
+#define S_FUNCTION_NAME timestwo
+#define S_FUNCTION_LEVEL 2
+
+#include "simstruc.h"
+
+/*================*
+ * Build checking *
+ *================*/
+
+
+/* Function: mdlInitializeSizes ===============================================
+ * Abstract:
+ * Setup sizes of the various vectors.
+ */
+static void mdlInitializeSizes(SimStruct *S)
+{
+ ssSetNumSFcnParams(S, 0);
+ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
+ return; /* Parameter mismatch will be reported by Simulink */
+ }
+
+ if (!ssSetNumInputPorts(S, 1)) return;
+ ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
+ ssSetInputPortDirectFeedThrough(S, 0, 1);
+
+ if (!ssSetNumOutputPorts(S,1)) return;
+ ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED);
+
+ ssSetNumSampleTimes(S, 1);
+
+ /* specify the sim state compliance to be same as a built-in block */
+ ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
+
+ /* Take care when specifying exception free code - see sfuntmpl_doc.c */
+ ssSetOptions(S,
+ SS_OPTION_WORKS_WITH_CODE_REUSE |
+ SS_OPTION_EXCEPTION_FREE_CODE |
+ SS_OPTION_USE_TLC_WITH_ACCELERATOR);
+}
+
+
+/* Function: mdlInitializeSampleTimes =========================================
+ * Abstract:
+ * Specifiy that we inherit our sample time from the driving block.
+ */
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
+ ssSetOffsetTime(S, 0, 0.0);
+ ssSetModelReferenceSampleTimeDefaultInheritance(S);
+}
+
+/* Function: mdlOutputs =======================================================
+ * Abstract:
+ * y = 2*u
+ */
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ int_T i;
+ InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
+ real_T *y = ssGetOutputPortRealSignal(S,0);
+ int_T width = ssGetOutputPortWidth(S,0);
+
+ for (i=0; i<width; i++) {
+ /*
+ * This example does not implement complex signal handling.
+ * To find out see an example about how to handle complex signal in
+ * S-function, see sdotproduct.c for details.
+ */
+ *y++ = 2.0 *(*uPtrs[i]);
+ }
+}
+
+
+/* Function: mdlTerminate =====================================================
+ * Abstract:
+ * No termination needed, but we are required to have this routine.
+ */
+static void mdlTerminate(SimStruct *S)
+{
+}
+
+
+
+#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
projects / jenkicar / testing.git / commitdiff