Device Drivers

Developing Simulink Device Driver Blocks: Step-By-Step Guide and Examples

Description

This package contains a guide that explains, in a step-by-step fashion, how to develop device driver blocks (blocks that perform target-specific functions when executed on a target platform).

Example drivers for:

-) Arduino digital output
-) Arduino digital input
-) Arduino analog output
-) Arduino encoder read
-) DC Motor (Arduino AF Motor Shield)
-) Stepper Motor (Arduino AFMotor Shield)

are included.

While the examples are built using the Arduino as the hardware platform (specifically relying on the Simulink Support Package for Arduino), the method is the same for any other supported target.

Acknowledgements

Simulink Support Package For Arduino Hardware and Simulink Support Package For Raspberry Pi Hardware inspired this file.

This file inspired Adlx345 I2c Driver For Arduino Mega, Raspberry Pi Quadrature Encoder S Function, Controle Moteur à Courant Continu Avec Arduino, Example Driver Blocks For Simulink Hardware Support Packages, Raspberry Pi Driver Block S Function, Raspberry Pi Dc Motor H Bridge Driver Block S Function, Raspberry Pi Pwm Driver Block S Function, and Arduino S Function For Mpc4725 I2 C Dac.

• Required Products: MATLAB; Simulink
• MATLAB release: MATLAB 8.0 (R2012b)

[Lincoln Nxumalo]

 

[Giampiero Campa]

Glen,
send me the files with the exact procedure that you are following and the error you are getting, i'll see if i can do anything.

[Glen]

Hi,

I have tried a number of different things to try and get the wrapper.cpp file included into the source_files listed in the .mk (make) file, rather than it being skipped. This has included editing the rtwmakecfg and trying to find the toolchain that is used to compile the .mk file. Editing the rtwmakecfg was unsuccessful. I did edit a Linux tool chain located in the "coder" directory. But I don't think it is the one that is used. The toolchain that is listed in the .mk file I cannot find - gmake, LinuxRemoteBuild.

[Glen]

Hi,

I have been trying again to get the MPU6050/HMC5883L model to build on the RPi. In the make file (.mk) which is included in the (_rtt) folder, when I rename the _wrapper.cpp file it is listed as a "SKIPPED_FILE". When I do not rename the wrapper.c is included in the "SOURCE_FILES". I have tried to get it included by editing the SFB.mat file but still no luck.

[Joshua Hurst]

Hi Glen,

I have a student working on the mpu6050 code for RasPi right now - getting it work in C and Python first. Then I will be porting it to Simulink most likely next week.

Feel free to send me an email directly and I can try to look at your files when I start start porting my students code: [e-mail]

In general for the Rpi you have to make sure the c-code compiles and on its own. If you look at the RPi examples I posted you have to make sure the #includes reference the local directory structure on the RPi - not your box. Just look at the Quadrature Encoder example for the RPi and you will see I had use: #include </home/pi/wiringPi/wiringPi/wiringPiI2C.h>. Which is where the files are on the RPi, not my actual computer. And don't forget to include the actual C files as well:
#include </home/pi/wiringPi/wiringPi/wiringPi.h>
#include </home/pi/wiringPi/wiringPi/wiringPi.c>

Let me know if this helps!

Josh

[Glen]

Hi Giampiero,

Many thanks for your reply. I should explain more. I am trying to incorporate the libraries for the MPU6050 and HMC5883L. The code I have previously compiled on the PI. I used the Arduino MPU6050 S-Function Builder Example from Joshua Hurst as a Starting point and replaced the Arduino Libraries with the Libraries I have for the PI - including the I2Cdev. The S-function builds successfully. I then change the _wrapper from .c to .cpp and apply the extern "C" changes. However, when I run on target hardware - using the MATLAB Pi Support Package - it does not include the wrapper .cpp or any .cpp file in the folder (_rtt) it downloads to the PI to compile and run. If I leave the wrapper.c unchanged it does get incorporated into the _rtt folder but then I have unreferenced .cpp files not included.

I can send you my work so far if it helps.

Many thanks for your support.

Best Wishes
Glen

[MathWorks Classroom Resources Team]

Hi Glen, there are several RasPi drivers, i believe with external libraries too, linked in the Acknowledgement section of this page.

I (Giampiero) would suggest trying them first to see if you can make them work, if so, start from them to see if you can build your driver. That being said i'll investigate further this case to see if anyone has any idea.

[Glen]

Hi Giampiero,

I am trying build a model incorporating an S-Function Builder for my RaspPi. Because it includes C++ files I change the wrapper file extension to .cpp and at extern "C" infront of the Outputs and Update wrapper. However, when I run the model a further file is built with the extension _rtt and it does not include my wrapper file and other .cpp files within the file that gets downloaded to the RaspPi, hence I get undefined references.

I have tried a number of things but starting to go around in circles.

Any help would be appreciated.

Best Wishes
Glen

[Giampiero Campa]

Mark,
you need to scroll up to see the upper part of the text. Maximizing the window might also help a little.

[Mark]

Within the "afmotor_slsp" model, there is a block containing instructions titled "Double Click for Explanations". When I double-click, the instructions start with step 3...what are the first two steps???

[Durga Samannth]

Hi,
Thank you for your step by step explanation. I have tried to create my own servo and I am getting the following error when I have changed the name of the wrapper file generated to .cpp from .c

The call to realtime_make_rtw_hook, during the after_make hook generated the following error:
The specified file "servornd_wrapper.c" does not exist on the IDE and MATLAB paths.

Could you help me resolve this error.
Thanks in advance.

[Ben Gurion University]

Perfect!
helped me a lot

thank you for that tutorial

[Giampiero Campa]

I'm glad that's working, Nathan.
Thanks Phil, that's great!

[phil]

guys i have put together a little macro that will automatically make the necessary modification to the wrapper.c file
I found myself having to redo this for every rebuild of the S function and it was getting annoying.
The exe will add the extern "C" in front of the voids save/close and rename it to .cpp
gl - phil

https://dl.dropboxusercontent.com/u/64527727/externCautoit.rar

[Nathan Crosty]

@Classroom Resources,
That was the trick. I can now use any library I wish in the S-Function builder. Thank you very much

[Nathan Crosty]

@phil,
I added this line to my Library/Object/Source files pane in the s-function builder. It seems to take care of the path issue.

INC_PATH C:\arduino-1.0.3\libraries\Time

[MathWorks Classroom Resources Team]

Nathan, if you include a .cpp file then you should rename the generated wrapper function from .c to .cpp, and also open it and write: ' extern "C" ' before the two function calls.

Please have a look at page 20 of the guide, which explains how to do this, and let me know if it works.

[phil]

@ Nathan...
did you put the included files in the current matlab folder?

[Nathan Crosty]

Hello,
I tried to follow your example and it worked great for interfaces that are in Arduino.h such as digital and analog IO. I ran into problems when trying to include other Arduino Libraries.

I noticed that you had included "AFMotor.cpp" and "AFMotor.h" in your examples, which I guess is similar what I am attempting with "DS1307RTC.h" and "DS1307RTC.cpp" which are libraries for keeping time.

I can build the sfunction with the sfunction builder when it is structured like you have it in your examples. When I go to build the applicaiton, however, I run into an issue that seems to be related to cpp code when the compiler is expecting c code. I am using the Arduino integration package found here http://www.mathworks.com/matlabcentral/fileexchange/30277-embedded-coder-support-package-for-arduino

The compiler message I get when it attempts to build the header file with a class definition is this:

C:/ARDUIN~1.3/hardware/tools/avr/bin//avr-gcc -c -mmcu=atmega2560 -I. -DF_CPU=16000000 -Os -Wall -Wstrict-prototypes -std=gnu99 -I. -I.. -IC:/PROGRA~1/MATLAB/R2011a/rtw/c/ert -IC:/PROGRA~1/MATLAB/R2011a/extern/include -IC:/PROGRA~1/MATLAB/R2011a/simulink/include -IC:/PROGRA~1/MATLAB/R2011a/rtw/c/src -IC:/PROGRA~1/MATLAB/R2011a/rtw/c/src/ext_mode/common -Ic:/OU_SYSTEMS_ENG/GH/gh-dev/Simulink_Models/Drivers/GH_TopLevel_Test_arduino -Ic:/OU_SYSTEMS_ENG/GH/gh-dev/Simulink_Models/Drivers -Ic:/OU_SYSTEMS_ENG/GH/gh-dev/Simulink_Models -Ic:/OU_SYSTEMS_ENG/GH/gh-dev/Simulink_Models/Custom_Includes -Ic:/OU_SYSTEMS_ENG/GH/gh-dev/Simulink_Models/ArduinoML/blocks -IC:/arduino-1.0.3/hardware/arduino/variants/mega2560 -IC:/arduino-1.0.3/hardware/arduino/cores/arduino -IC:/arduino-1.0.3/libraries/Time -IC:/arduino-1.0.3/libraries/DS1307RTC -Ireferenced_model_includes -I../slprj/arduino/_sharedutils -IC:/ARDUIN~1.3/hardware/arduino/cores/arduino ../sfun_systime_get_wrapper.c -o sfun_systime_get_wrapper.o
In file included from ../sfun_systime_get_wrapper.c:39:
C:/arduino-1.0.3/libraries/DS1307RTC/DS1307RTC.h:12: error: expected '=', ',', ';', 'asm' or '__attribute__' before 'DS1307RTC'
../sfun_systime_get_wrapper.c:40: error: expected '=', ',', ';', 'asm' or '__attribute__' before 'sysTime'

Please let me know if you have any thoughts. I am wondering if this is still an issue with the newer Arduino support in later versions of ML/Simulink.

[Joshua Hurst]

Thanks Giampy!

With your driver guide we were able to make driver blocks for:

- MPU6050 3 axis accelerometer/gyroscope
- HC-SR04 ultrasonic range/distance sensor
- L3GD20 3 axis gyroscope

And with all this we made a miniature Segway! You can find all the drivers and supporting libraries for the listed sensors here:

http://www.minseg.com/downloads

Thanks again!

[Joshua Hurst]

 

[phil]

Thank you! It compiles and runs on the Arduino Mega. The screen however does not show characters properly and its all scrambled. I am not sure what is happening... :(
When using the arduino IDE everything works fine. Here is a zip with some screenshots. I would appreciate if you could perhaps have a look and see if i am missing something...
thanks again - phil ([e-mail])
link:
https://dl.dropboxusercontent.com/u/64527727/screenshots/screenshots.zip

[Giampiero Campa]

Phil, i think the variable "lcd" needs to be defined as a global. Try to define it in the libraries pane, after all the includes, see page 16 of the guide.

[phil]

./io_wrappers.cpp: In function 'void Serial_read(int, int, uint8_t*, int*)':
./io_wrappers.cpp:40: warning: 'libFcnOutput' may be used uninitialized in this function
cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++
./DDvers1_wrapper.cpp: In function 'void DDvers1_Outputs_wrapper(const boolean_T*, const real_T*, const real_T*, int_T)':
./DDvers1_wrapper.cpp:73: error: 'lcd' was not declared in this scope
./DDvers1_wrapper.cpp:77: error: 'lcd' was not declared in this scope
In file included from ./ert_main.c:18:
C:/MATLAB/Targets/R2012b/arduino-1.0/hardware/arduino/cores/arduino/Arduino.h:24:1: warning: "true" redefined
In file included from ./DisplayDriverv1.h:23,
from ./ert_main.c:17:
./rtwtypes.h:158:1: warning: this is the location of the previous definition
In file included from ./ert_main.c:18:
C:/MATLAB/Targets/R2012b/arduino-1.0/hardware/arduino/cores/arduino/Arduino.h:25:1: warning: "false" redefined
In file included from ./DisplayDriverv1.h:23,
from ./ert_main.c:17:
./rtwtypes.h:154:1: warning: this is the location of the previous definition

[Sebastian D'Amico]

 

[Roni Peer]

Great walk through for newbies!

[phil]

just what i was looking for!
it would be great if you guys could share your driver blocks!

i am currently writing one for an LCD display...quite a challenge.

[Giampiero Campa]

NOTE: If you are working with external libraries and you get an “undefined reference” error that means that your code references objects defined elsewhere (in other files) and, at linking time, the linker cannot find where they are.

In this case you need to make sure that all the .c and .cpp files of the library you are using are in the current MATLAB folder and that they are all included in the "Includes" field of the "Libraries" pane of the S-Function Builder (include the .c and .cpp files directly not the .h files).

Also, make sure that you read the last section (i.e. the last 2 pages) of the driver guide, entitled: "Working with external libraries".

[Arkadi]

Great tutorial, Thank you.

[Judicael Aubry]

This is exactly what I was searching for. A Step-by-Step guide to develop new and custom Simulink blocks for Arduino targets.

Thank you !

[Tucker McClure]

This is a good introduction to making all the device code I need inside blocks so that I can just drag and drop blocks and get all the processor-specific code. Say I need to add a new encoder. Copy and paste the block and change the pin numbers. Done. Thanks, Giampiero!