Simulink 2016a compatibility with WiringPi

I'm using S-functions in Simulink to call the WiringPi library installed on a Raspberry Pi Ver. 2 Model B. I have successfully implemented this in Matlab 2015b, but when trying to run a simple model which performs an SPI transmission in 2016a, I get the following error:

Error executing command "touch -c /home/pi/pi_test_ert_rtw/*.*;make -f pi_test.mk all -C /home/pi/pi_test_ert_rtw". Details:

STDERR: ert_main.c:8:29: fatal error: linuxinitialize.h: No such file or directory
compilation terminated.
make: *** [ert_main.c.o] Error 1

I have not manually included the linuxinitialize.h file in any of my s-Function code, nor is it included in the wiringPi library as far as I've been able to find, so I'm assuming it is included in some auto-generated code when the model is built. I have located a "linuxinitialize.h" file as well as a "linuxinitialize.c" in C:\Program Files\MATLAB\R2016a\toolbox\target\codertarget\rtos, in the inc and src folders, respectively. Moving the .h file into the active Matlab folder which contains my Simulink model and then building that produces the following error:

Error executing command "touch -c /home/pi/pi_test_ert_rtw/*.*;make -f pi_test.mk all -C /home/pi/pi_test_ert_rtw". Details:

STDERR: make: *** No rule to make target 'rt_main.c', needed by 'rt_main.c.o'.  Stop.

I'm not sure what has changed that causes the build to fail between 2015b and 2016a, but the make process seems to be different. I don't know what rt_main.c refers to in the makefile (also not a script I've written) and so I'm running out of ideas on how to fix it. My s-function code is attached along with a picture of the model I am trying to run.

SPI.c:

/*
 * File: SPI.c
 *
  *
  *   --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 3.0 ---
  *
  *   This file is an S-function produced by the S-Function
  *   Builder which only recognizes certain fields.  Changes made
  *   outside these fields will be lost the next time the block is
  *   used to load, edit, and resave this file. This file will be overwritten
  *   by the S-function Builder block. If you want to edit this file by hand, 
  *   you must change it only in the area defined as:  
  *
  *        %%%-SFUNWIZ_defines_Changes_BEGIN
  *        #define NAME 'replacement text' 
  *        %%%SFUNWIZ_defines_Changes_END
  *
  *   DO NOT change NAME--Change the 'replacement text' only.
  *
  *   For better compatibility with the Simulink Coder, the
  *   "wrapper" S-function technique is used.  This is discussed
  *   in the Simulink Coder's Manual in the Chapter titled,
  *   "Wrapper S-functions".
  *
  *  -------------------------------------------------------------------------
  * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
  *  ------------------------------------------------------------------------- 
* Created: Fri Mar 17 17:13:02 2017
*/
#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME SPI
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
/* %%%-SFUNWIZ_defines_Changes_BEGIN --- EDIT HERE TO _END */
#define NUM_INPUTS          1
/* Input Port  0 */
#define IN_PORT_0_NAME      write
#define INPUT_0_WIDTH       1
#define INPUT_DIMS_0_COL    1
#define INPUT_0_DTYPE       uint8_T
#define INPUT_0_COMPLEX     COMPLEX_NO
#define IN_0_FRAME_BASED    FRAME_NO
#define IN_0_BUS_BASED      0
#define IN_0_BUS_NAME       
#define IN_0_DIMS           1-D
#define INPUT_0_FEEDTHROUGH 1
#define IN_0_ISSIGNED        0
#define IN_0_WORDLENGTH      8
#define IN_0_FIXPOINTSCALING 1
#define IN_0_FRACTIONLENGTH  9
#define IN_0_BIAS            0
#define IN_0_SLOPE           0.125

#define NUM_OUTPUTS          2
/* Output Port  0 */
#define OUT_PORT_0_NAME      read
#define OUTPUT_0_WIDTH       1
#define OUTPUT_DIMS_0_COL    1
#define OUTPUT_0_DTYPE       uint8_T
#define OUTPUT_0_COMPLEX     COMPLEX_NO
#define OUT_0_FRAME_BASED    FRAME_NO
#define OUT_0_BUS_BASED      0
#define OUT_0_BUS_NAME       
#define OUT_0_DIMS           1-D
#define OUT_0_ISSIGNED        1
#define OUT_0_WORDLENGTH      8
#define OUT_0_FIXPOINTSCALING 1
#define OUT_0_FRACTIONLENGTH  3
#define OUT_0_BIAS            0
#define OUT_0_SLOPE           0.125
/* Output Port  1 */
#define OUT_PORT_1_NAME      spi_test
#define OUTPUT_1_WIDTH       1
#define OUTPUT_DIMS_1_COL    1
#define OUTPUT_1_DTYPE       real_T
#define OUTPUT_1_COMPLEX     COMPLEX_NO
#define OUT_1_FRAME_BASED    FRAME_NO
#define OUT_1_BUS_BASED      0
#define OUT_1_BUS_NAME       
#define OUT_1_DIMS           1-D
#define OUT_1_ISSIGNED        1
#define OUT_1_WORDLENGTH      8
#define OUT_1_FIXPOINTSCALING 1
#define OUT_1_FRACTIONLENGTH  3
#define OUT_1_BIAS            0
#define OUT_1_SLOPE           0.125

#define NPARAMS              0

#define SAMPLE_TIME_0        INHERITED_SAMPLE_TIME
#define NUM_DISC_STATES      1
#define DISC_STATES_IC       [0]
#define NUM_CONT_STATES      0
#define CONT_STATES_IC       [0]

#define SFUNWIZ_GENERATE_TLC 1
#define SOURCEFILES "__SFB__"
#define PANELINDEX           6
#define USE_SIMSTRUCT        0
#define SHOW_COMPILE_STEPS   0                   
#define CREATE_DEBUG_MEXFILE 0
#define SAVE_CODE_ONLY       0
#define SFUNWIZ_REVISION     3.0
/* %%%-SFUNWIZ_defines_Changes_END --- EDIT HERE TO _BEGIN */
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
#include "simstruc.h"

extern void SPI_Outputs_wrapper(const uint8_T *write,
      uint8_T *read,
      real_T *spi_test,
      const real_T *xD);
extern void SPI_Update_wrapper(const uint8_T *write,
      uint8_T *read,
      real_T *spi_test,
      real_T *xD);

/*====================*
 * S-function methods *
 *====================*/
/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *   Setup sizes of the various vectors.
 */
static void mdlInitializeSizes(SimStruct *S)
{

      DECL_AND_INIT_DIMSINFO(inputDimsInfo);
      DECL_AND_INIT_DIMSINFO(outputDimsInfo);
      ssSetNumSFcnParams(S, NPARAMS);
       if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
     return; /* Parameter mismatch will be reported by Simulink */
       }

      ssSetNumContStates(S, NUM_CONT_STATES);
      ssSetNumDiscStates(S, NUM_DISC_STATES);

      if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
      ssSetInputPortWidth(S, 0, INPUT_0_WIDTH);
      ssSetInputPortDataType(S, 0, SS_UINT8);
      ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
      ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
      ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/

      if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
      /* Output Port 0 */
      ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
      ssSetOutputPortDataType(S, 0, SS_UINT8);
      ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
      /* Output Port 1 */
      ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);
      ssSetOutputPortDataType(S, 1, SS_DOUBLE);
      ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);

      ssSetNumSampleTimes(S, 1);
      ssSetNumRWork(S, 0);
      ssSetNumIWork(S, 0);
      ssSetNumPWork(S, 0);
      ssSetNumModes(S, 0);
      ssSetNumNonsampledZCs(S, 0);

      ssSetSimulinkVersionGeneratedIn(S, "8.7");

      /* Take care when specifying exception free code - see sfuntmpl_doc.c */
      ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
                       SS_OPTION_USE_TLC_WITH_ACCELERATOR | 
           SS_OPTION_WORKS_WITH_CODE_REUSE));
  }

# define MDL_SET_INPUT_PORT_FRAME_DATA
static void mdlSetInputPortFrameData(SimStruct  *S, 
                                     int_T      port,
                                     Frame_T    frameData)
{
    ssSetInputPortFrameData(S, port, frameData);
}
/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    Specifiy  the sample time.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, SAMPLE_TIME_0);
    ssSetModelReferenceSampleTimeDefaultInheritance(S);
    ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_INITIALIZE_CONDITIONS
 /* Function: mdlInitializeConditions ========================================
  * Abstract:
  *    Initialize the states
  */
 static void mdlInitializeConditions(SimStruct *S)
 {
   real_T *xD   = ssGetRealDiscStates(S);

      xD[0] =  0;

   }
  #define MDL_SET_INPUT_PORT_DATA_TYPE
  static void mdlSetInputPortDataType(SimStruct *S, int port, DTypeId dType)
  {
      ssSetInputPortDataType( S, 0, dType);
  }
  #define MDL_SET_OUTPUT_PORT_DATA_TYPE
  static void mdlSetOutputPortDataType(SimStruct *S, int port, DTypeId dType)
  {
      ssSetOutputPortDataType(S, 0, dType);
  }

#define MDL_SET_DEFAULT_PORT_DATA_TYPES
static void mdlSetDefaultPortDataTypes(SimStruct *S)
{
  ssSetInputPortDataType( S, 0, SS_DOUBLE);
 ssSetOutputPortDataType(S, 0, SS_DOUBLE);
}
/* Function: mdlOutputs =======================================================
 *
*/
static void mdlOutputs(SimStruct *S, int_T tid)
{
    const uint8_T   *write  = (const uint8_T*) ssGetInputPortSignal(S,0);
    uint8_T        *read  = (uint8_T *)ssGetOutputPortRealSignal(S,0);
    real_T        *spi_test  = (real_T *)ssGetOutputPortRealSignal(S,1);
    const real_T   *xD = ssGetDiscStates(S);

      SPI_Outputs_wrapper(write, read, spi_test, xD);

}
#define MDL_UPDATE  /* Change to #undef to remove function */
/* Function: mdlUpdate ======================================================
   * Abstract:
   *    This function is called once for every major integration time step.
   *    Discrete states are typically updated here, but this function is useful
   *    for performing any tasks that should only take place once per
   *    integration step.
   */
  static void mdlUpdate(SimStruct *S, int_T tid)
  {
    real_T         *xD  = ssGetDiscStates(S);
    const uint8_T   *write  = (const uint8_T*) ssGetInputPortSignal(S,0);
    uint8_T        *read  = (uint8_T *)ssGetOutputPortRealSignal(S,0);
    real_T        *spi_test  = (real_T *)ssGetOutputPortRealSignal(S,1);

      SPI_Update_wrapper(write, read, spi_test,  xD);
  }

/* Function: mdlTerminate =====================================================
 * Abstract:
 *    In this function, you should perform any actions that are necessary
 *    at the termination of a simulation.  For example, if memory was
 *    allocated in mdlStart, this is the place to free it.
 */
static void mdlTerminate(SimStruct *S)
{

}

#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif

SPI_wrapper.c

/*
 * Include Files
 *
 */
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif

/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
# ifndef MATLAB_MEX_FILE

#include </home/pi/wiringPi/wiringPi/wiringPi.h>
#include </home/pi/wiringPi/wiringPi/wiringPiSPI.h>

#include </home/pi/wiringPi/wiringPi/wiringPi.c>
#include </home/pi/wiringPi/wiringPi/piHiPri.c>
#include </home/pi/wiringPi/wiringPi/piThread.c>
#include </home/pi/wiringPi/wiringPi/wiringPiSPI.c>

// global variables for address, high and low bits for data
int fd, inputSize;
# endif
/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
#define u_width 1
#define y_width 1
/*
 * Create external references here.  
 *
 */
/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
/* extern double func(double a); */
/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */

/*
 * Output functions
 *
 */
void SPI_Outputs_wrapper(const uint8_T *write,
      uint8_T *read,
      real_T *spi_test,
      const real_T *xD)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
if(xD[0] == 1)
{
    #ifndef MATLAB_MEX_FILE
        // Read high byte, low byte, then combine:

          unsigned char spiData[1];
          int n;

//        inputSize = sizeof(write)/sizeof(write[0]);

//         for (n = 0; n < 1; n++){
//             spiData[n] = write[n];
//         }

          spiData[0] = write[0];
  //         spiData[1] = write[1];
  //         spiData[2] = write[2];
  //         spiData[3] = write[3];
  //         spiData[4] = write[4];
  //         spiData[5] = write[5];

//         spiData[0] = 0x01;
//         spiData[1] = 0x00;
//         spiData[2] = 0x02;
//         spiData[3] = 0x03;
//         spiData[4] = 0x04;
//         spiData[5] = 0x05;

//        spiData [0] = 1 ;    // Start bit
//        spiData [1] = 0x80 ;
//        spiData [2] = 0 ;

        spi_test[0] = wiringPiSPIDataRW(0,spiData,1) ;

          read[0] = spiData[0];

//        read[0] = ((spiData[1] << 8) | spiData[2]) & 0x3FF;

      #endif
  }
  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
  }

/*
  * Updates function
  *
  */
void SPI_Update_wrapper(const uint8_T *write,
      uint8_T *read,
      real_T *spi_test,
      real_T *xD)
{
  /* %%%-SFUNWIZ_wrapper_Update_Changes_BEGIN --- EDIT HERE TO _END */
if(xD[0] != 1){

      # ifndef MATLAB_MEX_FILE     
          // Check that device is connected and setup:
          wiringPiSetup ();
          fd = wiringPiSPISetup(0,4000000,1);

      #endif
  //done with initialization
      xD[0] = 1;           
  }
  /* %%%-SFUNWIZ_wrapper_Update_Changes_END --- EDIT HERE TO _BEGIN */
  }

[Jerry Chiang]

Hi mprice,

Did you find a solution to your issue?

I'm running into the same problem, and am currently installing 2015b just to use wiringPi with Simulink....

Thanks, Jerry

[svenb]

same here

STDERR: ert_main.c:26:29: fatal error: linuxinitialize.h: No such file or directory
 #include "linuxinitialize.h"