1 /*
2 * controller_model_sf.c
3 *
4 * This file contains a "wrapper style S-Function" for testing the generated
5 * code from Simulink. Simulink invokes the generated code through its
6 * S-Function API. Note that this file is not required for deployment
7 * of the generated code outside of Simulink.
8 *
9 * Real-Time Workshop code generation for Simulink model "controller_model.mdl".
10 *
11 * Model Version : 1.79
12 * Real-Time Workshop version : 7.2 (R2008b) 04-Aug-2008
13 * C source code generated on : Thu May 14 12:41:14 2009
14 *
15 */
16
17 #if !defined(S_FUNCTION_NAME)
18 #define S_FUNCTION_NAME controller_model_sf
19 #endif
20
21 #define S_FUNCTION_LEVEL 2
22
23 /* So mdlEnable and mdlDisable will be defined in the simstruc.h */
24 #if !defined(RTW_GENERATED_S_FUNCTION)
25 #define RTW_GENERATED_S_FUNCTION
26 #endif
27
28 #include <stdio.h>
29 #include <math.h>
30 #include "simstruc.h"
31 #include "fixedpoint.h"
32 #define rt_logging_h
33 #define RTWSfcnInfo void *
34 #include "controller_model.h"
35
36 static int8_T controller_model_sf_counter = 0;
37
38 /* Function: mdlInitializeSizes ===============================================
39 * Abstract:
40 * This function registers the input and output signal properties of the
41 * generated ERT code.
42 */
43 static void mdlInitializeSizes(SimStruct *S)
44 {
45 /* Tunable Parameters */
46 ssSetNumSFcnParams(S, 0);
47 ssFxpSetU32BitRegionCompliant(S, 1);
48
49 /* Number of expected parameters */
50 if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
51
52 #if defined(MDL_CHECK_PARAMETERS)
53
54 mdlCheckParameters(S);
55
56 #endif /* MDL_CHECK_PARAMETERS */
57
58 if (ssGetErrorStatus(S) != (NULL)) {
59 return;
60 }
61 } else {
62 return; /* Parameter mismatch will be reported by Simulink */
63 }
64
65 ssSetNumContStates(S, 0);
66 ssSetNumDiscStates(S, 0);
67 ssSetRTWGeneratedSFcn(S, 3);
68
69 /* Number of input ports */
70 if (!ssSetNumInputPorts(S, 1))
71 return;
72 if (!ssSetInputPortVectorDimension(S, 0, 1))
73 return;
74 ssSetInputPortBusMode(S, 0, SL_NON_BUS_MODE);
75 if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
76 ssSetInputPortDataType(S, 0, SS_UINT8);
77 }
78
79 ssSetBusInputAsStruct(S, 0, 1);
80 ssSetInputPortDirectFeedThrough(S, 0, 1);
81 ssSetInputPortSampleTime(S, 0, 1.0);
82 ssSetInputPortOffsetTime(S, 0, 0.0);
83
84 /* Number of output ports */
85 if (!ssSetNumOutputPorts(S, 1))
86 return;
87 if (!ssSetOutputPortVectorDimension(S, 0, 1))
88 return;
89 ssSetOutputPortBusMode(S, 0, SL_NON_BUS_MODE);
90 if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) {
91 ssSetOutputPortDataType(S, 0, SS_UINT8);
92 }
93
94 ssSetOutputPortSampleTime(S, 0, 1.0);
95 ssSetOutputPortOffsetTime(S, 0, 0.0);
96
97 /* Number of sample-times */
98 ssSetNumSampleTimes(S, 1);
99 ssSetNumRWork(S, 0);
100 ssSetNumIWork(S, 0);
101 ssSetNumPWork(S, 0);
102 ssSetNumModes(S, 0);
103 ssSetNumNonsampledZCs(S, 0);
104
105 /* ERT S-Function works with model reference normal mode */
106 ssSetModelReferenceNormalModeSupport(S, MDL_START_AND_MDL_PROCESS_PARAMS_OK);
107
108 /* exception free code */
109 ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE
110 );
111
112 /* input and output ports are already assigned */
113 /* ssSetOptions(S, SS_OPTION_PORT_SAMPLE_TIMES_ASSIGNED); */
114 }
115
116 /* Function: mdlInitializeSampleTimes =========================================
117 * Abstract:
118 * This function registers the sample times of the generated ERT code.
119 */
120 static void mdlInitializeSampleTimes(SimStruct *S)
121 {
122 ssSetSampleTime(S, 0, 1.0);
123 ssSetOffsetTime(S, 0, 0.0);
124 }
125
126 #define MDL_INITIALIZE_CONDITIONS
127
128 /* Function: mdlInitializeConditions ==========================================
129 * Abstract:
130 * This function calls the initialization function of the generated ERT
131 * code.
132 */
133 static void mdlInitializeConditions(SimStruct *S)
134 {
135
136 #ifdef PIL_S_FUNCTION
137
138 pilMarshallInitSFcnSimStruct(S);
139 pilMarshallInitRootSimStruct(ssGetRootSS(S));
140
141 #endif
142
143 controller_model_initialize(1);
144 }
145
146 #define MDL_START /* Change to #undef to remove function */
147 #if defined(MDL_START)
148
149 /* Function: mdlStart =========================================================
150 * Abstract:
151 *
152 */
153 static void mdlStart(SimStruct *S)
154 {
155 /* check if more than one instance of this S-Function has been used */
156 if (++controller_model_sf_counter > 1) {
157 ssSetErrorStatus(S,"This S-Function is limited to one copy per model.");
158 controller_model_sf_counter = 0;
159 return;
160 }
161
162 /* check if parent model's start time is the same as that used to generate code */
163 if (ssGetTStart(S) != 0.0) {
164 ssSetErrorStatus(S,
165 "The parent model of this S-Function must set the value of the 'Start time' on the Solver page of its Configuration Parameters Dialog to 0.0 since that was the value used when generating code for the S-Function's original model.");
166 return;
167 }
168 }
169
170 #endif /* MDL_START */
171
172 /* Function: mdlOutputs =======================================================
173 * Abstract:
174 * This function calls the step function of the generated ERT code
175 * and provides an interface with the simulation data.
176 */
177 static void mdlOutputs(SimStruct *S, int_T tid)
178 {
179 InputUInt8PtrsType InPort_0 = (InputUInt8PtrsType) ssGetInputPortSignalPtrs(S,
180 0);
181 uint8_T *OutPort_0 = (uint8_T *)ssGetOutputPortSignal(S, 0);
182 controller_model_U.In1 = InPort_0[0][0];
183 controller_model_step();
184 OutPort_0[0] = result;
185 }
186
187 /* Function: mdlTerminate =====================================================
188 * Abstract:
189 * This function calls the termination function of the generated ERT code.
190 */
191 static void mdlTerminate(SimStruct *S)
192 {
193 controller_model_terminate();
194 controller_model_sf_counter = 0;
195 }
196
197 #define MDL_ENABLE
198
199 /* Function: mdlEnable =================================================
200 *
201 */
202 static void mdlEnable(SimStruct *S)
203 {
204 (void) S;
205 }
206
207 #define MDL_DISABLE
208
209 /* Function: mdlDisable =================================================
210 *
211 */
212 static void mdlDisable(SimStruct *S)
213 {
214 (void) S;
215 }
216
217 #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
218 #include "simulink.c" /* MEX-file interface mechanism */
219 #include "fixedpoint.c"
220 #else
221 #include "cg_sfun.h" /* Code generation registration function */
222 #endif
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