matt
312 lines
16 KiB
C
312 lines
16 KiB
C
/* Copyright 1994-2016 The MathWorks, Inc. */
|
|
|
|
/*
|
|
* File: rtw_capi.h
|
|
*
|
|
* Abstract:
|
|
* Provides structure types and constants generated by CAPI.
|
|
* Macros for accessing the fields of the structures are also provided.
|
|
* This header file is included in MODEL_capi.c
|
|
*
|
|
*/
|
|
|
|
#ifndef _RTW_CAPI_H_
|
|
# define _RTW_CAPI_H_
|
|
|
|
#ifdef SL_INTERNAL
|
|
# include "simstruct/simstruc_types.h"
|
|
#else
|
|
#ifdef HOST_CAPI_BUILD
|
|
#include "simstruc_types.h"
|
|
#else
|
|
#include "rtwtypes.h"
|
|
#endif
|
|
#endif
|
|
|
|
#define SS_ENUM_TYPE (((uint8_T)(255U))-1)
|
|
#define SS_STRUCT (((uint8_T)(255U)))
|
|
#define rt_offsetof(s,el) ((uint32_T)((char_T *)&((s *)0)->el - (char_T *)(s *)0))
|
|
|
|
/* Enumeration for fixed point scaling type*/
|
|
typedef enum {
|
|
rtwCAPI_FIX_UNIFORM_SCALING,
|
|
rtwCAPI_FIX_NONUNIFORM_SCALING,
|
|
rtwCAPI_FIX_RESERVED
|
|
} rtwCAPI_FixPtScalingType;
|
|
|
|
/* Enumeration for data orientation */
|
|
typedef enum {
|
|
rtwCAPI_SCALAR,
|
|
rtwCAPI_VECTOR,
|
|
rtwCAPI_MATRIX_ROW_MAJOR,
|
|
rtwCAPI_MATRIX_COL_MAJOR,
|
|
rtwCAPI_MATRIX_COL_MAJOR_ND,
|
|
rtwCAPI_MATRIX_ROW_MAJOR_ND
|
|
} rtwCAPI_Orientation;
|
|
|
|
/* function pointers for matfile logging */
|
|
typedef void(*RTWLoggingFcnPtr)(void*, const void*);
|
|
|
|
/* Signals Structure */
|
|
/* Fields of this structure can be used to monitor block output signals*/
|
|
typedef struct rtwCAPI_Signals_tag {
|
|
uint_T addrMapIndex; /* index into the data address map */
|
|
uint_T sysNum; /* system identification number, where 0 = root */
|
|
const char_T *blockPath; /* block's full path name (RTW mangled version) */
|
|
const char_T *signalName;/* signal label (unmangled, NULL if not present) */
|
|
uint16_T portNumber; /* port number (starts at 0) */
|
|
uint16_T dataTypeIndex; /* index into DataTypeMap, gives signal data type */
|
|
uint16_T dimIndex; /* index into DimensionMap, gives signal dimension*/
|
|
uint16_T fxpIndex; /* index into FixPtMap, gives Fixed point info */
|
|
uint8_T sTimeIndex; /* index into SampleTimeMap, gives Task info */
|
|
} rtwCAPI_Signals;
|
|
|
|
/* Macros for accessing Signals structure fields */
|
|
/* bio is a pointer to array of Signals structures */
|
|
#define rtwCAPI_GetSignalAddrIdx(bio, i) ((bio)[(i)].addrMapIndex)
|
|
#define rtwCAPI_GetSignalBlockPath(bio, i) ((bio)[(i)].blockPath)
|
|
#define rtwCAPI_GetSignalName(bio, i) ((bio)[(i)].signalName)
|
|
#define rtwCAPI_GetSignalPortNumber(bio, i) ((bio)[(i)].portNumber)
|
|
#define rtwCAPI_GetSignalDataTypeIdx(bio, i) ((bio)[(i)].dataTypeIndex)
|
|
#define rtwCAPI_GetSignalDimensionIdx(bio, i) ((bio)[(i)].dimIndex)
|
|
#define rtwCAPI_GetSignalFixPtIdx(bio, i) ((bio)[(i)].fxpIndex)
|
|
#define rtwCAPI_GetSignalSampleTimeIdx(bio, i) ((bio)[(i)].sTimeIndex)
|
|
#define rtwCAPI_GetSignalSysNum(bio, i) ((bio)[(i)].sysNum)
|
|
|
|
/* BlockParameters Structure */
|
|
/* Fields of this structure can be used to monitor/modify block parameters */
|
|
typedef struct rtwCAPI_BlockParameters_tag {
|
|
uint_T addrMapIndex; /* index into the data address map */
|
|
const char_T *blockPath; /* block's full path name (RTW mangled version) */
|
|
const char_T *paramName; /* parameter name */
|
|
uint16_T dataTypeIndex; /* index into DataTypeMap, gives param data type */
|
|
uint16_T dimIndex; /* index into DimensionMap, gives param dimensions*/
|
|
uint16_T fxpIndex; /* index into FixPtMap, gives Fixed point info */
|
|
} rtwCAPI_BlockParameters;
|
|
|
|
/* Macros for accessing BlockParameter structure fields */
|
|
/* prm is a pointer to array of BlockParameter structures */
|
|
#define rtwCAPI_GetBlockParameterAddrIdx(prm, i) ((prm)[(i)].addrMapIndex)
|
|
#define rtwCAPI_GetBlockParameterBlockPath(prm, i) ((prm)[(i)].blockPath)
|
|
#define rtwCAPI_GetBlockParameterName(prm, i) ((prm)[(i)].paramName)
|
|
#define rtwCAPI_GetBlockParameterDataTypeIdx(prm, i) ((prm)[(i)].dataTypeIndex)
|
|
#define rtwCAPI_GetBlockParameterDimensionIdx(prm, i) ((prm)[(i)].dimIndex)
|
|
#define rtwCAPI_GetBlockParameterFixPtIdx(prm, i) ((prm)[(i)].fxpIndex)
|
|
|
|
/* ModelParameter Structure */
|
|
/* Fields of this structure can be used to monitor/modify model parameters *
|
|
* When Inline Parameters is on, you can configure tunable block parameters *
|
|
* as model parameters. */
|
|
typedef struct rtwCAPI_ModelParameters_tag {
|
|
uint_T addrMapIndex; /* index into the data address map */
|
|
const char_T *varName; /* variable name */
|
|
uint16_T dataTypeIndex; /* index into DataTypeMap, gives param data type */
|
|
uint16_T dimIndex; /* index into DimensionMap, gives param dimensions*/
|
|
uint16_T fxpIndex; /* index into FixPtMap, gives Fixed point info */
|
|
} rtwCAPI_ModelParameters;
|
|
|
|
/* Macros for accessing ModelParameter structure fields */
|
|
/* prm is a pointer to array of ModelParameter structures */
|
|
#define rtwCAPI_GetModelParameterAddrIdx(prm, i) ((prm)[(i)].addrMapIndex)
|
|
#define rtwCAPI_GetModelParameterName(prm, i) ((prm)[(i)].varName)
|
|
#define rtwCAPI_GetModelParameterDataTypeIdx(prm, i) ((prm)[(i)].dataTypeIndex)
|
|
#define rtwCAPI_GetModelParameterDimensionIdx(prm, i) ((prm)[(i)].dimIndex)
|
|
#define rtwCAPI_GetModelParameterFixPtIdx(prm, i) ((prm)[(i)].fxpIndex)
|
|
|
|
/* rtwCAPI_States Structure */
|
|
/* Fields of this structure can be used to monitor block States */
|
|
typedef struct rtwCAPI_States_tag {
|
|
uint_T addrMapIndex; /* index into the data address map */
|
|
int_T contStateStartIndex; /* starting index in the model's continuous *
|
|
* state and state derivative vectors. This is *
|
|
* set to -1 for discrete states */
|
|
const char_T *blockPath; /* block's full path name (RTW mangled version) */
|
|
const char_T *stateName; /* state name, Default:DWork/Cont State Identifier */
|
|
const char_T *pathAlias; /* Alias block path */
|
|
uint16_T dWorkIndex; /* Index into the Block DWork, 0 for cont. states */
|
|
uint16_T dataTypeIndex; /* index into DataTypeMap, gives state data type */
|
|
uint16_T dimIndex; /* index into DimensionMap, gives state dimensions */
|
|
uint16_T fxpIndex; /* index into FixPtMap, gives Fixed point info */
|
|
uint8_T sTimeIndex; /* index into SampleTimeMap, gives Task info */
|
|
uint8_T isContinuous; /* if the state is a Continuous state*/
|
|
int_T hierInfoIdx; /* the hierInfo associated with this state, -1 if no hierInfo */
|
|
uint_T flatElemIdx; /* flat element index in hierarchy */
|
|
} rtwCAPI_States;
|
|
|
|
/* Macros for accessing States structure fields */
|
|
/* bState is a pointer to array of States structures */
|
|
#define rtwCAPI_GetStateAddrIdx(bState, i) ((bState)[(i)].addrMapIndex)
|
|
#define rtwCAPI_GetContStateStartIndex(bState, i) \
|
|
((bState)[(i)].contStateStartIndex)
|
|
#define rtwCAPI_GetStateBlockPath(bState, i) ((bState)[(i)].blockPath)
|
|
#define rtwCAPI_GetStateName(bState, i) ((bState)[(i)].stateName)
|
|
#define rtwCAPI_GetStatePathAlias(bState, i) ((bState)[(i)].pathAlias)
|
|
#define rtwCAPI_GetStateDWorkIdx(bState, i) ((bState)[(i)].dWorkIndex)
|
|
#define rtwCAPI_GetStateDataTypeIdx(bState, i) ((bState)[(i)].dataTypeIndex)
|
|
#define rtwCAPI_GetStateDimensionIdx(bState, i) ((bState)[(i)].dimIndex)
|
|
#define rtwCAPI_GetStateFixPtIndex(bState, i) ((bState)[(i)].fxpIndex)
|
|
#define rtwCAPI_GetStateSampleTimeIdx(bState, i) ((bState)[(i)].sTimeIndex)
|
|
#define rtwCAPI_IsAContinuousState(bState, i) ((bState)[(i)].isContinuous == 1)
|
|
#define rtwCAPI_GetStateHierInfoIdx(bState, i) ((bState)[(i)].hierInfoIdx)
|
|
#define rtwCAPI_GetStateFlatElemIdx(bState, i) ((bState)[(i)].flatElemIdx)
|
|
|
|
/* DataTypeMap structure */
|
|
/* Members provide data type information of a signal or parameter */
|
|
typedef struct rtwCAPI_DataTypeMap_tag {
|
|
const char_T *cDataName; /* C language data type name */
|
|
const char_T *mwDataName; /* MathWorks data type, typedef in rtwtypes.h */
|
|
uint16_T numElements; /* number of elements, 0 for non-structure data */
|
|
uint16_T elemMapIndex;/* index into the ElementMap, gives Bus Info */
|
|
uint16_T dataSize; /* data size in Bytes */
|
|
uint8_T slDataId; /* enumerated data type from simstruc_types.h */
|
|
unsigned int isComplex:1; /* is the data type complex (1=Complex, 0=Real) */
|
|
unsigned int isPointer:1; /* is data accessed Via Pointer (1=yes, 0= no) */
|
|
} rtwCAPI_DataTypeMap;
|
|
|
|
/* Notes on rtwCAPI_DataTypeMap:
|
|
* cDataName - The ANSI C equivalent data type.
|
|
* For fixed point data
|
|
* cDataName = the native integer equivalent
|
|
* For Complex data or non-virtual structures,
|
|
* cDataName = "struct"
|
|
* mwDataName - RTW defined data type. Typedef can be found in rtwtypes.h
|
|
* For fixed point data,
|
|
* mwDataName = the integer type in which the data is stored.
|
|
* Use rtwCAPI_FixPtMap to get slope & bias of the data.
|
|
* numElements - Number of elements/members in the data type. If the data type
|
|
* represents a non-virtual structure (for e.g, bus structure),
|
|
* this field gives the number of elements in the structure.
|
|
* For non-structure data type, the default value is 0
|
|
* Complex data types are treated as non-structures
|
|
* elemMapIndex - Index into the rtwCAPI_ElementMap which maps each of the
|
|
* element/member of a structure data type.
|
|
* slDataId - Enumerated Simulink Data type defined in simstruc_types.h.
|
|
* The enumerations are
|
|
* o SS_DOUBLE
|
|
* o SS_SINGLE
|
|
* o SS_INT8
|
|
* o SS_UINT8
|
|
* o SS_INT16
|
|
* o SS_UINT16
|
|
* o SS_INT32
|
|
* o SS_UINT32
|
|
* o SS_BOOLEAN
|
|
* o SS_ENUM_TYPE (for enumerated data types)
|
|
* o SS_STRUCT (for non-virtual structures)
|
|
* For fixed point data:
|
|
* slDataId = enumeration corresponding to the integer type
|
|
* in which the data is stored
|
|
* For Complex data:
|
|
* slDataId = enumeration corresponding to the data type of
|
|
* the real part.
|
|
* isComplex - is the data type complex (1=Complex, 0=Real)
|
|
* isPointer - is data accessed Via Pointer (1=yes, 0= no)
|
|
*/
|
|
|
|
/* Macros for accessing DataTypeMap fields/members */
|
|
#define rtwCAPI_GetDataTypeCName(dTypeMap, i) ((dTypeMap)[(i)].cDataName)
|
|
#define rtwCAPI_GetDataTypeMWName(dTypeMap, i) ((dTypeMap)[(i)].mwDataName)
|
|
#define rtwCAPI_GetDataTypeNumElements(dTypeMap, i) ((dTypeMap)[(i)].numElements)
|
|
#define rtwCAPI_GetDataTypeElemMapIndex(dTypeMap,i) ((dTypeMap)[(i)].elemMapIndex)
|
|
#define rtwCAPI_GetDataTypeSLId(dTypeMap, i) ((dTypeMap)[(i)].slDataId)
|
|
#define rtwCAPI_GetDataTypeSize(dTypeMap, i) ((dTypeMap)[(i)].dataSize)
|
|
#define rtwCAPI_GetDataIsComplex(dTypeMap, i) ((dTypeMap)[(i)].isComplex)
|
|
#define rtwCAPI_GetDataIsPointer(dTypeMap, i) ((dTypeMap)[(i)].isPointer)
|
|
|
|
/* Macros for determining whether signals/states support MAT-File logging */
|
|
#define rtwCAPI_CanLogSignalToMATFile(dTypeMap, bio, i) \
|
|
(rtwCAPI_GetDataTypeSLId(dTypeMap, rtwCAPI_GetSignalDataTypeIdx(bio, i)) < SS_NUM_BUILT_IN_DTYPE)
|
|
#define rtwCAPI_CanLogStateToMATFile(dTypeMap, bState, i) \
|
|
(rtwCAPI_GetDataTypeSLId(dTypeMap, rtwCAPI_GetStateDataTypeIdx(bState, i)) < SS_NUM_BUILT_IN_DTYPE)
|
|
|
|
/* ElementMap structure */
|
|
/* Fields provide information on elements (fields) in Simulink Bus structure */
|
|
typedef struct rtwCAPI_ElementMap_tag {
|
|
const char_T *elementName; /* name of the element */
|
|
uint32_T elementOffset; /* offset of the structure element in bytes */
|
|
uint16_T dataTypeIndex; /* index into DataTypeMap, datatype of the element*/
|
|
uint16_T dimIndex; /* index into DimensionMap, element's dimensions */
|
|
uint16_T fxpIndex; /* index into fixPtMap, fixed point information */
|
|
} rtwCAPI_ElementMap;
|
|
|
|
/* Macros for accessing ElementMap fields */
|
|
#define rtwCAPI_GetElementName(elemMap, i) ((elemMap)[(i)].elementName)
|
|
#define rtwCAPI_GetElementOffset(elemMap, i) ((elemMap)[(i)].elementOffset)
|
|
#define rtwCAPI_GetElementDataTypeIdx(elemMap, i) ((elemMap)[(i)].dataTypeIndex)
|
|
#define rtwCAPI_GetElementDimensionIdx(elemMap, i) ((elemMap)[(i)].dimIndex)
|
|
#define rtwCAPI_GetElementFixPtIdx(elemMap, i) ((elemMap)[(i)].fxpIndex)
|
|
|
|
/* DimensionMap structure */
|
|
/* Fields provide dimensions of a signal or a parameter */
|
|
typedef struct rtwCAPI_DimensionMap_tag {
|
|
rtwCAPI_Orientation orientation;
|
|
/* orientation of data -scalar/vector/matrix/ND */
|
|
uint_T dimArrayIndex; /* index into dimension array */
|
|
uint8_T numDims; /* number of dimensions */
|
|
uint_T vardimsIndex; /* index into vardims address array */
|
|
} rtwCAPI_DimensionMap;
|
|
|
|
/* Macros for accessing DimensionMap fields */
|
|
#define rtwCAPI_GetOrientation(dimMap, i) ((dimMap)[(i)].orientation)
|
|
#define rtwCAPI_GetDimArrayIndex(dimMap, i) ((dimMap)[(i)].dimArrayIndex)
|
|
#define rtwCAPI_GetNumDims(dimMap, i) ((dimMap)[(i)].numDims)
|
|
#define rtwCAPI_GetDimsIsVariable(vardimsAddrMap, dimMap, i) (vardimsAddrMap[(dimMap)[(i)].vardimsIndex] != NULL)
|
|
|
|
/* FixPtMap Structure */
|
|
/* Fields provide fixed point information of a signal or parameter */
|
|
typedef struct rtwCAPI_FixPtMap_tag {
|
|
const void* fracSlopePtr; /* pointer to fractional slope value */
|
|
const void* biasPtr; /* pointer to bias value */
|
|
rtwCAPI_FixPtScalingType scaleType;
|
|
/* scaling type - uniform/non-uniform */
|
|
uint8_T wordLength; /* number of bits required to store value *
|
|
* In MATLAB, word length of the fi object */
|
|
int8_T exponent; /* exponent */
|
|
boolean_T isSigned; /* 1 = signed data, 0 = unsigned data */
|
|
} rtwCAPI_FixPtMap;
|
|
|
|
/* Macros for accessing FixPtMap fields */
|
|
#define rtwCAPI_GetFxpFracSlopePtr(fxpMap, i) ((fxpMap)[(i)].fracSlopePtr)
|
|
#define rtwCAPI_GetFxpBiasPtr(fxpMap, i) ((fxpMap)[(i)].biasPtr)
|
|
#define rtwCAPI_GetFxpScaling(fxpMap, i) ((fxpMap)[(i)].scaleType)
|
|
#define rtwCAPI_GetFxpWordLength(fxpMap, i) ((fxpMap)[(i)].wordLength)
|
|
#define rtwCAPI_GetFxpExponent(fxpMap, i) ((fxpMap)[(i)].exponent)
|
|
#define rtwCAPI_GetFxpIsSigned(fxpMap, i) ((fxpMap)[(i)].isSigned)
|
|
|
|
/* Macros to get the slope and bias values casted to DOUBLE */
|
|
#define rtwCAPI_GetFxpFracSlope(fxpMap, i) (*((real_T*) rtwCAPI_GetFxpFracSlopePtr(fxpMap,i)))
|
|
#define rtwCAPI_GetFxpBias(fxpMap, i) (*((real_T*) rtwCAPI_GetFxpBiasPtr(fxpMap, i)))
|
|
|
|
/* SampleTimeMap Structure */
|
|
typedef struct rtwCAPI_SampleTimeMap_tag {
|
|
const void* samplePeriodPtr; /* pointer to sample time period value */
|
|
const void* sampleOffsetPtr; /* pointer to sample time Offset value */
|
|
int8_T tid; /* task identifier */
|
|
uint8_T samplingMode; /* 1 = FrameBased, 0 = SampleBased */
|
|
} rtwCAPI_SampleTimeMap;
|
|
|
|
/* Macros for accessing SampleTimeMap fields */
|
|
|
|
#define rtwCAPI_GetSamplePeriodPtr(sampTimeMap, i) ((sampTimeMap)[(i)].samplePeriodPtr)
|
|
#define rtwCAPI_GetSampleOffsetPtr(sampTimeMap, i) ((sampTimeMap)[(i)].sampleOffsetPtr)
|
|
#define rtwCAPI_GetSampleTimeTID(sampTimeMap, i) ((sampTimeMap)[(i)].tid)
|
|
#define rtwCAPI_GetSamplingMode(sampTimeMap, i) ((sampTimeMap)[(i)].samplingMode)
|
|
|
|
/* Macros to get sample period and offset casted to DOUBLE */
|
|
/* if sample period is -3.0 and offset is 1.0, then it represents an initialize function,
|
|
if sample period is -3.0 and offset is 2.0, then it represents a terminate function,
|
|
if sample period is -3.0 and offset > 2.0, then it represents a reset function.
|
|
*/
|
|
#define rtwCAPI_GetSamplePeriod(sampTimeMap, i) (*((real_T *) rtwCAPI_GetSamplePeriodPtr(sampTimeMap, i)))
|
|
#define rtwCAPI_GetSampleOffset(sampTimeMap, i) (*((real_T *) rtwCAPI_GetSampleOffsetPtr(sampTimeMap, i)))
|
|
|
|
/* Macro to get the actual data address */
|
|
#define rtwCAPI_GetDataAddress(dataAddrMap,addrIdx) ((dataAddrMap)[(addrIdx)])
|
|
|
|
/* Macro to get the actual var dims address */
|
|
#define rtwCAPI_GetCurrentDimsAddr(vardimsAddrMap,dimMap,addrIdx) ((vardimsAddrMap)[(dimMap)[(addrIdx)].vardimsIndex])
|
|
|
|
#endif /* _RTW_CAPI_H_ */
|
|
|
|
/* EOF - rtw_capi.h */
|