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.
53 #include "mf624_SIMULINK.h"
57 #define my_popcount __builtin_popcount
59 int my_popcount(uint32_t patt)
75 * You should use the following technique to report errors encountered within
78 * ssSetErrorStatus(S,"Error encountered due to ...");
81 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
82 * It cannot be a local variable. For example the following will cause
83 * unpredictable errors:
87 * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"}
88 * sprintf(msg,"Error due to %s", string);
89 * ssSetErrorStatus(S,msg);
93 * See matlabroot/simulink/src/sfuntmpl_doc.c for more details.
96 /*====================*
97 * S-function methods *
98 *====================*/
100 /* Function: mdlInitializeSizes ===============================================
102 * The sizes information is used by Simulink to determine the S-function
103 * block's characteristics (number of inputs, outputs, states, etc.).
105 static void mdlInitializeSizes(SimStruct *S)
110 /* See sfuntmpl_doc.c for more details on the macros below */
112 ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
113 if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
114 /* Return if number of expected != number of actual parameters */
115 ssSetErrorStatus(S,"Parameter mismatch");
119 ssSetNumContStates(S, 0);
120 ssSetNumDiscStates(S, 0);
122 ADCCMask = (int)MASK_PRM(S);
124 if(ADCCMask > 255 || ADCCMask < 0) {
125 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
128 ADCChannels = my_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
130 if (!ssSetNumInputPorts(S, 0)) return;
134 if (!ssSetNumOutputPorts(S, ADCChannels)) return;
135 for(i=0; i < ADCChannels;i++){
136 ssSetOutputPortWidth(S, i, 1);
138 ssSetNumSampleTimes(S, 1);
143 ssSetNumNonsampledZCs(S, 0);
145 /* Specify the sim state compliance to be same as a built-in block */
146 ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
155 /* Function: mdlInitializeSampleTimes =========================================
157 * This function is used to specify the sample time(s) for your
158 * S-function. You must register the same number of sample times as
159 * specified in ssSetNumSampleTimes.
161 static void mdlInitializeSampleTimes(SimStruct *S)
163 ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
164 ssSetOffsetTime(S, 0, FIXED_IN_MINOR_STEP_OFFSET);
170 #undef MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
171 #if defined(MDL_INITIALIZE_CONDITIONS)
172 /* Function: mdlInitializeConditions ========================================
174 * In this function, you should initialize the continuous and discrete
175 * states for your S-function block. The initial states are placed
176 * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
177 * You can also perform any other initialization activities that your
178 * S-function may require. Note, this routine will be called at the
179 * start of simulation and if it is present in an enabled subsystem
180 * configured to reset states, it will be call when the enabled subsystem
181 * restarts execution to reset the states.
183 static void mdlInitializeConditions(SimStruct *S)
186 #endif /* MDL_INITIALIZE_CONDITIONS */
190 #define MDL_START /* Change to #undef to remove function */
191 #if defined(MDL_START)
192 /* Function: mdlStart =======================================================
194 * This function is called once at start of model execution. If you
195 * have states that should be initialized once, this is the place
198 static void mdlStart(SimStruct *S)
203 if (mf624_init(NULL) != 0)
205 #endif /*WITHOUT_HW*/
207 int ADCCMask = (int)MASK_PRM(S);
209 if(ADCCMask > 255 || ADCCMask < 0) {
210 ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
213 ADCChannels = my_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
215 ssSetIWorkValue(S, 0, ADCChannels);
217 mfst->ADC_enabled = ADCCMask;
218 mfst->ADC_enabled &= 0xFF;
220 mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg));
221 #endif /*WITHOUT_HW*/
223 #endif /* MDL_START */
227 /* Function: mdlOutputs =======================================================
229 * In this function, you compute the outputs of your S-function
232 static void mdlOutputs(SimStruct *S, int_T tid)
235 int ADCChannels = ssGetIWorkValue(S, 0);
240 if (mf624_check(S) != 0)
243 // Activate trigger to start conversion
244 mf624_read16(MFST2REG(mfst, 2, ADSTART_reg));
245 #endif /*WITHOUT_HW*/
247 y = alloca(ADCChannels * sizeof(*y));
249 for(i=0; i < ADCChannels;i++){
250 y[i]=ssGetOutputPortSignal(S,i);
254 // Check if conversion has finished
255 while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) {
256 for (i = 0; i < 1000; i++) {} // small wait
259 for(i=1; i < ADCChannels;i+=2){
260 res = mf624_read32(MFST2REG(mfst, 2, ADDATA0_reg));
263 *y[i-1] = (real_T) (10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
264 *y[i] = (real_T) (10.0 * ((int16_t) (res1 << 2)) / (double) 0x8000);
267 if(i == ADCChannels){
268 res = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg));
269 *y[ADCChannels-1]=(real_T)(10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
272 for(i=0; i < ADCChannels; i++){
275 #endif /*WITHOUT_HW*/
280 #undef MDL_UPDATE /* Change to #undef to remove function */
281 #if defined(MDL_UPDATE)
282 /* Function: mdlUpdate ======================================================
284 * This function is called once for every major integration time step.
285 * Discrete states are typically updated here, but this function is useful
286 * for performing any tasks that should only take place once per
289 static void mdlUpdate(SimStruct *S, int_T tid)
292 #endif /* MDL_UPDATE */
296 #undef MDL_DERIVATIVES /* Change to #undef to remove function */
297 #if defined(MDL_DERIVATIVES)
298 /* Function: mdlDerivatives =================================================
300 * In this function, you compute the S-function block's derivatives.
301 * The derivatives are placed in the derivative vector, ssGetdX(S).
303 static void mdlDerivatives(SimStruct *S)
306 #endif /* MDL_DERIVATIVES */
310 /* Function: mdlTerminate =====================================================
312 * In this function, you should perform any actions that are necessary
313 * at the termination of a simulation. For example, if memory was
314 * allocated in mdlStart, this is the place to free it.
316 static void mdlTerminate(SimStruct *S)
320 #endif /*WITHOUT_HW*/
324 /*======================================================*
325 * See sfuntmpl_doc.c for the optional S-function methods *
326 *======================================================*/
328 /*=============================*
329 * Required S-function trailer *
330 *=============================*/
332 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
333 #include "simulink.c" /* MEX-file interface mechanism */
335 #include "cg_sfun.h" /* Code generation registration function */