Use correct header file for alloca for Linux build.

[mf624-simulink.git] / sfAnalogOutput.c

diff --git a/sfAnalogOutput.c b/sfAnalogOutput.c
index a3fa03db6847084450f9198debbc3aad11fc4383..d2d0ad0634f19adfa6e7c06d05af7bb7164b3929 100644 (file)
--- a/sfAnalogOutput.c
+++ b/sfAnalogOutput.c
@@ -1,12 +1,34 @@
 /*
- * sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function.
+ * S-function to support analog outputs on Humusoft MF624 card
  *
- *  -------------------------------------------------------------------------
- *  | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
- *  -------------------------------------------------------------------------
+ * Copyright (C) 2013 Michal Kreč <krecmich@fel.cvut.cz>
+ * Copyright (C) 2013 Michal Sojka <sojkam1@fel.cvut.cz>
  *
- * Copyright 1990-2002 The MathWorks, Inc.
- * $Revision: 1.27.4.2 $
+ * 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.
  */
 
 
@@ -18,12 +40,17 @@
 #define S_FUNCTION_NAME  sfAnalogOutput
 #define S_FUNCTION_LEVEL 2
 
+#define CHNL_PRM(S)     (mxGetScalar(ssGetSFcnParam(S, 0)))
+
 /*
  * Need to include simstruc.h for the definition of the SimStruct and
  * its associated macro definitions.
  */
 #include "simstruc.h"
-#include "mf624.h"
+
+#ifndef WITHOUT_HW
+#include "mf624_SIMULINK.h"
+#endif /*WITHOUT_HW*/
 
 /* Error handling
  * --------------
@@ -62,7 +89,7 @@ static void mdlInitializeSizes(SimStruct *S)
 {
     /* 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 */
         return;
@@ -87,7 +114,7 @@ static void mdlInitializeSizes(SimStruct *S)
     ssSetNumSampleTimes(S, 1);
     ssSetNumRWork(S, 0);
     ssSetNumIWork(S, 0);
-    ssSetNumPWork(S, 1);
+    ssSetNumPWork(S, 0);
     ssSetNumModes(S, 0);
     ssSetNumNonsampledZCs(S, 0);
 
@@ -107,7 +134,7 @@ static void mdlInitializeSizes(SimStruct *S)
  */
 static void mdlInitializeSampleTimes(SimStruct *S)
 {
-    ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
+    ssSetSampleTime(S, 0, -1);
     ssSetOffsetTime(S, 0, 0.0);
 
 }
@@ -144,31 +171,12 @@ static void mdlInitializeSampleTimes(SimStruct *S)
    */
   static void mdlStart(SimStruct *S)
   {
-    //TODO: get pointer to mfst state structure and store it in pwork
-    #define TEST
-    #if defined(TEST)
-    #define BUFF_SMALL         32
-    mf624_state_t* mfst = malloc(sizeof(mf624_state_t));
-    char buff[BUFF_SMALL];
-       memset(buff, '\0', BUFF_SMALL);
-    mfst->uio_dev = "uio0";
-
-       strncat(buff, "/dev/", 5);
-       strncat(buff, mfst->uio_dev, sizeof(buff) - 6);
-
-       mfst->device_fd = open_device(buff);
-       if (mfst->device_fd < 0) {
-        ssSetErrorStatus(S,"open failed");
-        return;
-       }
-       if (mmap_regions(mfst) < 0) {
-        ssSetErrorStatus(S,"mmap_regions failed");
-               return;
-       }
-
+  #ifndef WITHOUT_HW
+        if (mf624_init(NULL) != 0)
+           return;
        DAC_enable(mfst);
-    ssSetPWorkValue(S, 0, mfst);
-    #endif
+  #endif /*WITHOUT_HW*/
+    //ssSetPWorkValue(S, 0, mfst);
   }
 #endif /*  MDL_START */
 
@@ -182,8 +190,13 @@ static void mdlInitializeSampleTimes(SimStruct *S)
 static void mdlOutputs(SimStruct *S, int_T tid)
 {
     const real_T *u = (const real_T*) ssGetInputPortSignal(S,0);
-    mf624_state_t* mfst = ssGetPWorkValue(S,0);
+    //mf624_state_t* mfst = ssGetPWorkValue(S,0);
     int out;
+
+  #ifndef WITHOUT_HW
+    if (mf624_check(S) != 0)
+           return;
+
     if(u[0] > 9.9988){
         out = 0x3FFF;
     }
@@ -193,7 +206,8 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     else {
         out = (int) ((u[0] + 10) * 8192 / 10 + 0.5);
     }
-    DAC_write(mfst, DA0, out);
+    mf624_write16(out, MFST2REG(mfst, 2, dac_channel2reg[(int)CHNL_PRM(S)-1]));
+  #endif /*WITHOUT_HW*/
 }
 
 
@@ -236,10 +250,18 @@ static void mdlOutputs(SimStruct *S, int_T tid)
  */
 static void mdlTerminate(SimStruct *S)
 {
-    #if defined(TEST)
-    free(ssGetPWorkValue(S,0));
-    #endif
-    
+  #ifndef WITHOUT_HW
+    //mf624_state_t* mfst = ssGetPWorkValue(S,0);
+    if (mf624_check(NULL) != 0)
+           return;
+
+    /*At the end of simulation disable D/A outputs*/
+    mf624_write32((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg))
+                  & ~GPIOC_DACEN_mask), // disable output,
+                 MFST2REG(mfst, 0, GPIOC_reg));
+
+    mf624_done();
+  #endif /*WITHOUT_HW*/
 }