gencode based on f2b0120

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(cr929_SIL LANGUAGES C CXX)
+project(ET39_sil LANGUAGES C CXX)
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
@@ -8,10 +8,9 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-add_compile_options(/source-charset:utf-8 /execution-charset:utf-8)
 # QtCreator supports the following variables for Android, which are identical to qmake Android variables.
 # Check http://doc.qt.io/qt-5/deployment-android.html for more information.
 # They need to be set before the find_package(Qt5 ...) call.
@@ -25,77 +24,49 @@ add_compile_options(/source-charset:utf-8 /execution-charset:utf-8)
 #    endif()
 #endif()
 
-
-
 find_package(Qt5 COMPONENTS Widgets Network REQUIRED)
 
-function(include_sub_directories_recursively root_dir)
+include_directories( ET39_SIL/work/ET39_SIL_ert_shrlib_rtw
-    if (IS_DIRECTORY ${root_dir})               # 当前路径是一个目录吗，是的话就加入到包含目录
+    ET39_SIL/work/slprj
-        message("include dir: " ${root_dir})
+    ET39_SIL/work/slprj/ert_shrlib/_sharedutils
-        include_directories(${root_dir})
+    ET39_SIL/R2018b/rtw/c/src
-    endif()
+    ET39_SIL/R2018b/simulink/include
+    ET39_SIL/otherFiles
+)
 
-    file(GLOB ALL_SUB RELATIVE ${root_dir} ${root_dir}/*) # 获得当前目录下的所有文件，让如ALL_SUB列表中
+file(GLOB_RECURSE ET39_SIL_SRC ET39_SIL/*.c)
-    foreach(sub ${ALL_SUB})
+message(STATUS "Files are ${ET39_SIL_SRC}")
-        if (IS_DIRECTORY ${root_dir}/${sub})
-            include_sub_directories_recursively(${root_dir}/${sub}) # 对子目录递归调用，包含
-        endif()
-    endforeach()
-endfunction()
 
-include_sub_directories_recursively(${CMAKE_SOURCE_DIR}/${PROJECT_NAME}) # 对子目录递归调用，                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                包含
-
-message(">>> CMAKE_HEAD_DIR : ${CMAKE_SOURCE_DIR}/${PROJECT_NAME}")
-
-
-FILE(GLOB_RECURSE ${PROJECT_NAME}_SRC ${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/*.c)
-FILE(GLOB_RECURSE ${PROJECT_NAME}_LIB ${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/*.lib)
-
-list(REMOVE_ITEM ${PROJECT_NAME}_SRC "${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/otherFiles/hal_uart_out_wrapper.c")
-
-message(">>> CMAKE_SOURCE_DIR : ${${PROJECT_NAME}_SRC}")
-
-add_definitions(-D_NAME=\"${PROJECT_NAME}\")
 add_definitions(-DWITH_CAPI)
-add_definitions(-DHAL_IMPL)
+add_definitions(-DCAPI_MDL=ET39_SIL)
-add_definitions(-DCAPI_MDL=${PROJECT_NAME})
+add_definitions(-DHDR_MDL=ET39_SIL.h)
-add_definitions(-DHDR_MDL=${PROJECT_NAME}.h)
-add_definitions(-DPARAM_PROPS_MAXLEN=512)
 add_definitions(-DMAVLINK_USE_MESSAGE_INFO)
 
-
+if(ANDROID)
-add_definitions(-DCAPI_HAND="${PROJECT_NAME}_capi.h")
+  add_library(ET39_sil SHARED
-add_definitions(-DSIL_HAND="${PROJECT_NAME}.h")
+    main.cpp
-
+    mainwindow.cpp
-
+    mainwindow.h
-#link_libraries(${${PROJECT_NAME}_LIB})
+    mainwindow.ui
-
+    ${ET39_SIL_SRC}
-
+  )
-
+else()
-add_executable(${PROJECT_NAME} WIN32
+  add_executable(ET39_sil WIN32
     mainwindow.cpp
     mainwindow.h
     mainwindow.ui
     main.cpp
-    ${${PROJECT_NAME}_SRC}
+    ${ET39_SIL_SRC}
-    ${${PROJECT_NAME}_LIB}
+  )
-)
+endif()
-
-
-link_directories(${${PROJECT_NAME}_LIB})
-
-message(">>> ${PROJECT_NAME}_LIB : ${${PROJECT_NAME}_LIB}")
-
-target_link_libraries(${PROJECT_NAME}  PUBLIC Qt5::Widgets Qt5::Network ${${PROJECT_NAME}_LIB})
-
 
+target_link_libraries(ET39_sil PRIVATE Qt5::Widgets Qt5::Network)
 
 include(GNUInstallDirs)
 
 message("CMAKE_INSTALL_BINDIR=${CMAKE_INSTALL_BINDIR}")
-
+install(TARGETS ET39_sil RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
-install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
+install(FILES ET39_SIL/work/ET39_SIL_win64.dll DESTINATION "${CMAKE_INSTALL_BINDIR}")
-install(FILES ${PROJECT_NAME}/work/${PROJECT_NAME}_win64.dll DESTINATION "${CMAKE_INSTALL_BINDIR}")
 
 set(CPACK_GENERATOR ZIP)
 set(CPACK_PACKAGE_VERSION_MAJOR 0)

ET39_SIL/otherFiles/app_config.h

@@ -0,0 +1,105 @@
+#ifndef __APP_CONFIG_H__
+
+#ifndef AP_DT_MS
+#define AP_DT_MS (5.0)
+#endif
+
+#ifndef PARAM_PROPS_MAXLEN
+#define PARAM_PROPS_MAXLEN (512)
+#endif
+
+#ifndef PWM_CHANEL_NUM
+#define PWM_CHANEL_NUM (12)
+#endif
+
+#ifndef RPM_CHANNEL_NUM
+#define RPM_CHANNEL_NUM (0)
+#endif
+
+#ifndef SBUS_ENABLE
+#define SBUS_ENABLE (0)
+#endif
+
+#ifndef CAN1_ENABLE
+#define CAN1_ENABLE (0)
+#endif
+
+#ifndef CAN3_ENABLE
+#define CAN3_ENABLE (0)
+#endif
+
+#ifndef UART1_RX_ENABLE
+#define UART1_RX_ENABLE (512)
+#endif
+#ifndef UART2_RX_ENABLE
+#define UART2_RX_ENABLE (0)
+#endif
+#ifndef UART4_RX_ENABLE
+#define UART4_RX_ENABLE (0)
+#endif
+#ifndef UART6_RX_ENABLE
+#define UART6_RX_ENABLE (0)
+#endif
+#ifndef UART7_RX_ENABLE
+#define UART7_RX_ENABLE (512)
+#endif
+#ifndef UART8_RX_ENABLE
+#define UART8_RX_ENABLE (0)
+#endif
+
+#ifndef UART1_TX_ENABLE
+#define UART1_TX_ENABLE (256)
+#endif
+#ifndef UART2_TX_ENABLE
+#define UART2_TX_ENABLE (0)
+#endif
+#ifndef UART4_TX_ENABLE
+#define UART4_TX_ENABLE (0)
+#endif
+#ifndef UART6_TX_ENABLE
+#define UART6_TX_ENABLE (0)
+#endif
+#ifndef UART7_TX_ENABLE
+#define UART7_TX_ENABLE (256)
+#endif
+#ifndef UART8_TX_ENABLE
+#define UART8_TX_ENABLE (0)
+#endif
+
+#define UART1_BAUDRATE (460800)
+#define UART1_WORDLENGTH (UART_WORDLENGTH_8B)
+#define UART1_STOPBITS (UART_STOPBITS_1)
+#define UART1_PARITY (UART_PARITY_NONE)
+#define UART1_MODE (UART_MODE_TX_RX)
+
+#define UART2_BAUDRATE (460800)
+#define UART2_WORDLENGTH (UART_WORDLENGTH_8B)
+#define UART2_STOPBITS (UART_STOPBITS_1)
+#define UART2_PARITY (UART_PARITY_NONE)
+#define UART2_MODE (UART_MODE_TX_RX)
+
+#define UART4_BAUDRATE (100000)
+#define UART4_WORDLENGTH (UART_WORDLENGTH_9B)
+#define UART4_STOPBITS (UART_STOPBITS_2)
+#define UART4_PARITY (UART_PARITY_EVEN)
+#define UART4_MODE (UART_MODE_RX)
+
+#define UART6_BAUDRATE (115200)
+#define UART6_WORDLENGTH (UART_WORDLENGTH_8B)
+#define UART6_STOPBITS (UART_STOPBITS_1)
+#define UART6_PARITY (UART_PARITY_NONE)
+#define UART6_MODE (UART_MODE_TX_RX)
+
+#define UART7_BAUDRATE (115200)
+#define UART7_WORDLENGTH (UART_WORDLENGTH_8B)
+#define UART7_STOPBITS (UART_STOPBITS_1)
+#define UART7_PARITY (UART_PARITY_NONE)
+#define UART7_MODE (UART_MODE_TX_RX)
+
+#define UART8_BAUDRATE (115200)
+#define UART8_WORDLENGTH (UART_WORDLENGTH_8B)
+#define UART8_STOPBITS (UART_STOPBITS_1)
+#define UART8_PARITY (UART_PARITY_NONE)
+#define UART8_MODE (UART_MODE_TX_RX)
+
+#endif /* __APP_CONFIG_H__ */

ET39_SIL/otherFiles/find_param_val_wrapper.c

@@ -0,0 +1,231 @@
+
+/*
+ * 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 */
+#ifdef WITH_CAPI
+#include "builtin_typeid_types.h"
+#include "param_pre.h"
+#include "param_mgr.h"
+#include <stdio.h>
+#else
+#include <string.h>
+#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 */
+#ifdef WITH_CAPI
+void scan_params(void)
+{
+    const rtwCAPI_ModelMappingStaticInfo* sm;
+    unsigned int m;
+    rtwCAPI_ModelParameters const *prm;
+    rtwCAPI_DataTypeMap   const   *dtm;
+    rtwCAPI_DimensionMap  const   *dmm;
+    uint_T                const   *dam;
+    rtwCAPI_ModelMappingInfo *MMI;
+    void** da;
+    unsigned int i;
+    const char * name;
+    int idx;
+    uint16_t dti;
+    uint16_t dmi;
+    uint8_t ss;
+    uint_T dai;
+    uint8_t nd;
+    uint_T n;
+    uint16_t j;
+    size_t s1,s2;
+    int k;
+    char idx_buff[8];
+    param_prop prop;
+
+    static int is_init=0;
+
+    if (is_init)
+    {
+        return;
+    }
+    is_init = 1;
+
+    sm =  ap_GetCAPIStaticMap_fcn();
+    if (sm)
+    {
+        prop.getter_ptr = NULL;
+        prop.setter_ptr = NULL;
+        //n = rtwCAPI_GetNumBlockParametersFromStaticMap(sm);
+        m = rtwCAPI_GetNumModelParametersFromStaticMap(sm);
+        prm = rtwCAPI_GetModelParametersFromStaticMap(sm);
+        dtm = rtwCAPI_GetDataTypeMapFromStaticMap(sm);
+        dmm = rtwCAPI_GetDimensionMapFromStaticMap(sm);
+        dam = rtwCAPI_GetDimensionArrayFromStaticMap(sm);
+        MMI = &(rtmGetDataMapInfo(ap_M_ptr).mmi);
+        da = rtwCAPI_GetDataAddressMap(MMI);
+        for (i = 0;i<m; ++i)
+        {
+            name = rtwCAPI_GetModelParameterName(prm, i);
+            idx = rtwCAPI_GetModelParameterAddrIdx(prm, i);
+            dti = rtwCAPI_GetModelParameterDataTypeIdx(prm, i);
+            dmi = rtwCAPI_GetModelParameterDimensionIdx(prm, i);
+            ss = rtwCAPI_GetDataTypeSLId(dtm, dti);
+            dai = rtwCAPI_GetDimArrayIndex(dmm, dmi);
+            nd = rtwCAPI_GetNumDims(dmm, dmi);
+            n = 1;
+            for (j=0u;j<nd;++j)
+            {
+                n *= dam[dai+j];
+            }
+            for (j=0;j<n;++j)
+            {
+                switch (ss)
+                {
+                case SS_DOUBLE:
+                {
+                    prop.val_ptr.d = &((double *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_REAL64;
+                }
+                    break;
+                case SS_INT8:
+                case SS_BOOLEAN:
+                {
+                    prop.val_ptr.b = &((int8_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_INT8;
+                }
+                    break;
+                case SS_INT16:
+                {
+                    prop.val_ptr.h = &((int16_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_INT16;
+                }
+                    break;
+                case SS_INT32:
+                {
+                    prop.val_ptr.i = &((int32_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_INT32;
+                }
+                    break;
+                case SS_UINT8:
+                {
+                    prop.val_ptr.B = &((uint8_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_UINT8;
+                }
+                    break;
+                case SS_UINT16:
+                {
+                    prop.val_ptr.H = &((uint16_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_UINT16;
+                }
+                    break;
+                case SS_UINT32:
+                {
+                    prop.val_ptr.I = &((uint32_t *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_UINT32;
+                }
+                    break;
+                default:
+                {
+                    prop.val_ptr.s = &((float *)da[idx])[j];
+                    prop.typ = PARAM_TYPE_REAL32;
+                }
+                    break;
+                }
+                strncpy(prop.name, name, 16);
+                if (j > 0)
+                {
+                  sprintf(idx_buff, "(%d)", j);
+                  s2 = strlen(idx_buff);
+                  s1 = strlen(prop.name);
+                  if (s1+s2 >= 16)
+                  {
+                      for (k=0;k<s2;++k)
+                      {
+                          prop.name[16-s2+k] = idx_buff[k];
+                      }
+                  }
+                  else
+                  {
+                      for (k=0;k<s2;++k)
+                      {
+                          prop.name[s1+k] = idx_buff[k];
+                      }
+                      prop.name[s1+k] = '\0';
+                  }
+                }
+                if (prop.typ != PARAM_TYPE_REAL64)
+                param_mgr_regist(&prop);
+            }
+        }
+    }
+}
+#endif
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Start function
+ *
+ */
+void find_param_val_Start_wrapper(void)
+{
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef WITH_CAPI
+    scan_params();
+#endif
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+}
+/*
+ * Output function
+ *
+ */
+void find_param_val_Outputs_wrapper(const uint16_T *idx,
+			uint8_T *name,
+			uint8_T *value,
+			uint8_T *type,
+			uint16_T *count,
+			uint16_T *index)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+#ifdef WITH_CAPI
+    count[0] = param_get_count();
+    index[0] = idx[0];
+    param_prop * p = param_get_by_idx(idx[0]);
+    if (p)
+    {
+        strncpy(name, p->name, 16);
+        type[0] = p->typ;
+        param_get_value(p, value);
+    }
+    else
+    {
+        strcpy((char *)name, "outrange");
+        float val = 0.0;
+        memcpy(value, &val, 4);
+        type[0] = 9u;
+    }
+#else
+    strcpy((char *)name, "unkown");
+    float val = 0.0;
+    memcpy(value, &val, 4);
+    type[0] = 9u;
+    count[0] = 1;
+    index[0] = 0u;
+#endif
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+

ET39_SIL/otherFiles/hal_rec_wrapper.c

@@ -0,0 +1,80 @@
+
+/*
+ * 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 */
+#ifdef HAL_IMPL
+#include "param_pre.h"
+#endif
+
+/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
+#define u_width 1
+
+/*
+ * Create external references here.  
+ *
+ */
+/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
+static void pack(uint8_T *pkg, uint16_T *len, const int_T y_width, uint8_T *ts, uint8_T *src, uint16_T length)
+{
+    uint8_T sum;
+    int16_T i,j;
+    sum = 0;
+    for (i = 0; i < 4; ++i)
+    {
+        pkg[i] = ts[i];
+        sum += ts[i];
+    }
+    if (length > y_width - 5)
+    {
+        length = y_width - 5;
+    }
+    for (i = 0, j = 4; i < length; ++i,++j)
+    {
+        pkg[j] = src[i];
+        sum += src[i];
+    }
+    pkg[j] = sum;
+    len[0] = length+4;
+}
+
+
+/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
+
+/*
+ * Output function
+ *
+ */
+void hal_rec_Outputs_wrapper(const uint8_T *id,
+			const uint32_T *time_stamp,
+			uint8_T *pkg,
+			uint16_T *len,
+			const int_T y_width)
+{
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+    switch (id[0])
+    {
+#ifdef HAL_IMPL
+    case 1:
+        pack(pkg, len, y_width, (uint8_T *)time_stamp, (uint8_T *)&rec_hi, sizeof(rec_hi));
+        break;
+#endif
+    default:
+        pack(pkg, len, y_width, (uint8_T *)time_stamp, 0UL, 0u);
+    }
+
+
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+}
+
+

ET39_SIL/otherFiles/hal_serial_cmdline_wrapper.c

@@ -16,6 +16,8 @@
 #ifdef HAL_IMPL
 #include <stdint.h>
 #include <string.h>
+extern char cmd[70];
+extern uint8_t cmd_len;
 #endif
 /* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
 #define u_width 70
@@ -40,6 +42,15 @@ void hal_serial_cmdline_Outputs_wrapper(const uint8_T *data,
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
 ErrorCode[0] = 0;
 #ifdef HAL_IMPL
+if (cmd_len == 0)
+{
+  cmd_len = len[0]-1;
+  if (cmd_len > sizeof(cmd)-1)
+  {
+	  cmd_len = sizeof(cmd)-1;
+  }
+  memcpy(cmd, data, cmd_len);
+}
 #endif
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
 }

ET39_SIL/otherFiles/hal_serial_echoline_wrapper.c

@@ -16,6 +16,8 @@
 #ifdef HAL_IMPL
 #include <stdint.h>
 #include <string.h>
+extern char echo[70];
+extern uint8_t echo_len;
 #endif
  
 /* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
@@ -38,6 +40,16 @@ void hal_serial_echoline_Outputs_wrapper(uint8_T *data,
 {
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
 #ifdef HAL_IMPL
+if (echo_len)
+{
+    if (echo_len > 70)
+        echo_len = 70;
+    memcpy(data, echo, echo_len);
+    memset(data+echo_len, 0, 70-echo_len);
+    len[0] = echo_len;
+    echo_len = 0;
+}
+else
 #endif
 len[0] = 0;
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */

ET39_SIL/otherFiles/mav_parser_wrapper.c

@@ -24,21 +24,23 @@
  *
  */
 /* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
- 
+#ifdef MAVLINK_USE_MESSAGE_INFO
+mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+#endif
 /* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */
 
 /*
  * Output function
  *
  */
-void mav_encap_data_encode_Outputs_wrapper(const mavlink_encapsulated_data_t *obj,
+void mav_parser_Outputs_wrapper(const uint8_T *chr,
-			const uint8_T *sys_id,
+			boolean_T *retcode,
-			const uint8_T *comp_id,
+			mavlink_message_t *message,
-			const uint8_T *channel,
+			mavlink_status_t *status,
-			mavlink_message_t *msg)
+			const uint8_T *ch, const int_T p_width0)
 {
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
-mavlink_msg_encapsulated_data_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj);
+retcode[0] = mavlink_parse_char(ch[0],chr[0],message,status);
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
 }