/*
- * (c) Michal Kreč, Czech Technical University in Prague, 2013
+ * S-function to support analog inputs on Humusoft MF624 card
+ *
+ * Copyright (C) 2013 Michal Kreč <krecmich@fel.cvut.cz>
+ * Copyright (C) 2013 Michal Sojka <sojkam1@fel.cvut.cz>
+ *
+ * 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.
*/
-
/*
* 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 sfAnalogInput
#define S_FUNCTION_LEVEL 2
+#define MASK_PRM(S) (mxGetScalar(ssGetSFcnParam(S, 0)))
/*
* Need to include simstruc.h for the definition of the SimStruct and
*/
#include "simstruc.h"
-#include "mf624.h"
+#include <stdint.h>
+
+#ifndef WITHOUT_HW
+#include "mf624_SIMULINK.h"
+#endif /*WITHOUT_HW*/
/* Error handling
{
/* See sfuntmpl_doc.c for more details on the macros below */
- ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
+ ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
+ ssSetErrorStatus(S,"Parameter mismatch");
return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
+
+ int ADCCMask = (int)MASK_PRM(S);
+ int i;
+ if(ADCCMask > 255 || ADCCMask < 0) {
+ ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
+ }
+
+ int ADCChannels = __builtin_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
+
+
+ if (!ssSetNumInputPorts(S, 0)) return;
+
+
- 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, 1)) return;
- ssSetOutputPortWidth(S, 0, 1);
-
+ if (!ssSetNumOutputPorts(S, ADCChannels)) return;
+ for(i=0; i < ADCChannels;i++){
+ ssSetOutputPortWidth(S, i, 1);
+ }
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
- ssSetNumIWork(S, 0);
- ssSetNumPWork(S, 1);
+ ssSetNumIWork(S, 1);
+ ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
+
+
}
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
- ssSetOffsetTime(S, 0, 0.0);
+ ssSetOffsetTime(S, 0, FIXED_IN_MINOR_STEP_OFFSET);
}
-#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
+#undef MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
/* Function: mdlInitializeConditions ========================================
* Abstract:
*/
static void mdlStart(SimStruct *S)
{
- #if defined(TEST)
- mf624_state_t* mfst = &mf624_state;
- char buff[BUFF_SMALL];
- memset(buff, '\0', BUFF_SMALL);
-
-
-
- #endif
- //TODO: inicializovat tady pointer na stavovou strukturu a ulozit ho do PWork
+
+ #ifndef WITHOUT_HW
+ if (mf624_init(NULL) != 0)
+ return;
+ #endif /*WITHOUT_HW*/
+
+ int ADCCMask = (int)MASK_PRM(S);
+
+ if(ADCCMask > 255 || ADCCMask < 0) {
+ ssSetErrorStatus(S,"Invalid parameter mask, set to 0-255");
+ }
+
+ int ADCChannels = __builtin_popcount((uint32_t)ADCCMask); //Counts number of set bits in ADCCMask
+
+ ssSetIWorkValue(S, 0, ADCChannels);
+ #ifndef WITHOUT_HW
+ mfst->ADC_enabled = ADCCMask;
+ mfst->ADC_enabled &= 0xFF;
+
+ mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg));
+ #endif /*WITHOUT_HW*/
}
#endif /* MDL_START */
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
- mf624_state_t* mfstPtr = ssGetPWork(S)[0];
- real_T *y = ssGetOutputPortSignal(S,0);
- y[0] = ADC_read(mfstPtr, AD0);
+
+ int ADCChannels = ssGetIWorkValue(S, 0);
+ real_T* y[ADCChannels];
+ int i;
+ int res,res1;
+ #ifndef WITHOUT_HW
+ if (mf624_check(S) != 0)
+ return;
+
+ // Activate trigger to start conversion
+ mf624_read16(MFST2REG(mfst, 2, ADSTART_reg));
+ #endif /*WITHOUT_HW*/
+
+ for(i=0; i < ADCChannels;i++){
+ y[i]=ssGetOutputPortSignal(S,i);
+ }
+
+ #ifndef WITHOUT_HW
+ // Check if conversion has finished
+ while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) {
+ for (i = 0; i < 1000; i++) {} // small wait
+ }
+
+ for(i=1; i < ADCChannels;i+=2){
+ res = mf624_read32(MFST2REG(mfst, 2, ADDATA0_reg));
+ res1= res >> 16;
+ res = res & 0xFFFF;
+ *y[i-1] = (real_T) (10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
+ *y[i] = (real_T) (10.0 * ((int16_t) (res1 << 2)) / (double) 0x8000);
+ }
+
+ if(i == ADCChannels){
+ res = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg));
+ *y[ADCChannels-1]=(real_T)(10.0 * ((int16_t) (res << 2)) / (double) 0x8000);
+ }
+ #else /*WITHOUT_HW*/
+ for(i=0; i < ADCChannels; i++){
+ *y[i] = 0;
+ }
+ #endif /*WITHOUT_HW*/
}
-#define MDL_UPDATE /* Change to #undef to remove function */
+#undef MDL_UPDATE /* Change to #undef to remove function */
#if defined(MDL_UPDATE)
/* Function: mdlUpdate ======================================================
* Abstract:
-#define MDL_DERIVATIVES /* Change to #undef to remove function */
+#undef MDL_DERIVATIVES /* Change to #undef to remove function */
#if defined(MDL_DERIVATIVES)
/* Function: mdlDerivatives =================================================
* Abstract:
*/
static void mdlTerminate(SimStruct *S)
{
+ #ifndef WITHOUT_HW
+ mf624_done(S);
+ #endif /*WITHOUT_HW*/
}
projects / mf624-simulink.git / blobdiff